[
    {
        "episode_id": 672769,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 566,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 566,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 857,
                    "end_frame": 957,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 957,
                    "end_frame": 993,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1238,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1238,
                    "end_frame": 1659,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672813,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 372,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 372,
                    "end_frame": 623,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 623,
                    "end_frame": 958,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1166,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1263,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1263,
                    "end_frame": 1461,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1461,
                    "end_frame": 2004,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672849,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 348,
                    "end_frame": 674,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 674,
                    "end_frame": 923,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1113,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1190,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1339,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1339,
                    "end_frame": 1765,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672878,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 268,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 982,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 982,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1239,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1239,
                    "end_frame": 1582,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672905,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 276,
                    "end_frame": 521,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 521,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 833,
                    "end_frame": 992,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1056,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1198,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1729,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 672933,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 305,
                    "end_frame": 606,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 606,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 857,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1543,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1543,
                    "end_frame": 1869,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1053,
                    "end": 1543,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 672997,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 356,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 641,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 883,
                    "end_frame": 1047,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1047,
                    "end_frame": 1118,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1118,
                    "end_frame": 1474,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1836,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673049,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 218,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 512,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 782,
                    "end_frame": 913,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 913,
                    "end_frame": 981,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1164,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 1558,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673088,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 331,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 652,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 935,
                    "end_frame": 1117,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
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                {
                    "start_frame": 1117,
                    "end_frame": 1204,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
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                {
                    "start_frame": 1204,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1727,
                    "end_frame": 2216,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            "key_frame": [
                {
                    "start": 1204,
                    "end": 1727,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 673104,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 336,
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                {
                    "start_frame": 663,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 847,
                    "end_frame": 993,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 993,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1082,
                    "end_frame": 1286,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1286,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673127,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 308,
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                {
                    "start_frame": 622,
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                {
                    "start_frame": 963,
                    "end_frame": 1117,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1117,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1204,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673185,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 286,
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                {
                    "start_frame": 534,
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                {
                    "start_frame": 729,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 839,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 937,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 673203,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 673218,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 673268,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 891,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1093,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1093,
                    "end_frame": 1375,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1375,
                    "end_frame": 1753,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673300,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 589,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 589,
                    "end_frame": 905,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 905,
                    "end_frame": 1045,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1097,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1602,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673335,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 914,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1117,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1117,
                    "end_frame": 1186,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1186,
                    "end_frame": 1405,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1805,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673352,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 329,
                    "end_frame": 660,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 660,
                    "end_frame": 926,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1061,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1143,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1143,
                    "end_frame": 1455,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1455,
                    "end_frame": 1790,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673372,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 285,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 600,
                    "end_frame": 1017,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1166,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1235,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1487,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 1934,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673392,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 253,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 709,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 709,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 1002,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1002,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1358,
                    "end_frame": 1844,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1002,
                    "end": 1358,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 673415,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 271,
                    "end_frame": 559,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 559,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 1006,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1072,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1330,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1330,
                    "end_frame": 1724,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673438,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 305,
                    "end_frame": 584,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 584,
                    "end_frame": 873,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 873,
                    "end_frame": 1001,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1785,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 281,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 941,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1110,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1196,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1196,
                    "end_frame": 1507,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1507,
                    "end_frame": 2302,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673569,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 319,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1099,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1099,
                    "end_frame": 1180,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1180,
                    "end_frame": 1737,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1737,
                    "end_frame": 2344,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1180,
                    "end": 1737,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 673595,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 303,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 627,
                    "end_frame": 884,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 884,
                    "end_frame": 1036,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1036,
                    "end_frame": 1124,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1124,
                    "end_frame": 1797,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1797,
                    "end_frame": 2142,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1124,
                    "end": 1797,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 673628,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 298,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 879,
                    "end_frame": 1017,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1017,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1103,
                    "end_frame": 1442,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1442,
                    "end_frame": 1874,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673653,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 338,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 596,
                    "end_frame": 916,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 916,
                    "end_frame": 1034,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1034,
                    "end_frame": 1111,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1111,
                    "end_frame": 1463,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1463,
                    "end_frame": 1884,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673715,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 240,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 491,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 810,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 943,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1018,
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                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1398,
                    "end_frame": 2151,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673740,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 269,
                    "end_frame": 548,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 548,
                    "end_frame": 841,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 841,
                    "end_frame": 980,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 980,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1040,
                    "end_frame": 1319,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1319,
                    "end_frame": 1811,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673774,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 580,
                    "end_frame": 775,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 775,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1014,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1325,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1325,
                    "end_frame": 1657,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673806,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 283,
                    "end_frame": 529,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 529,
                    "end_frame": 785,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 785,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 994,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1338,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1338,
                    "end_frame": 1769,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673839,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 281,
                    "end_frame": 559,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 559,
                    "end_frame": 810,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 810,
                    "end_frame": 968,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 968,
                    "end_frame": 1021,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1021,
                    "end_frame": 1266,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1805,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 298,
                    "end_frame": 575,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 575,
                    "end_frame": 921,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1035,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1035,
                    "end_frame": 1098,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1098,
                    "end_frame": 1475,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1475,
                    "end_frame": 1977,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673890,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 266,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 544,
                    "end_frame": 870,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 870,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1328,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1328,
                    "end_frame": 1763,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673926,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 339,
                    "end_frame": 695,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 695,
                    "end_frame": 1048,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1153,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1207,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1207,
                    "end_frame": 1563,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1563,
                    "end_frame": 2092,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 673958,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 249,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 249,
                    "end_frame": 489,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 489,
                    "end_frame": 842,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 842,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 971,
                    "end_frame": 1043,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1043,
                    "end_frame": 1400,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1400,
                    "end_frame": 1837,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674003,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 227,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 500,
                    "end_frame": 858,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 858,
                    "end_frame": 986,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 986,
                    "end_frame": 1048,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1048,
                    "end_frame": 1413,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1413,
                    "end_frame": 1752,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674116,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 294,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 605,
                    "end_frame": 859,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 859,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1005,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1067,
                    "end_frame": 1285,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1285,
                    "end_frame": 1655,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674144,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 309,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 637,
                    "end_frame": 875,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 875,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1079,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1350,
                    "end_frame": 1712,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674169,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 290,
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                {
                    "start_frame": 598,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 885,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1040,
                    "end_frame": 1109,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1109,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1439,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674198,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 306,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 306,
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                {
                    "start_frame": 619,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 883,
                    "end_frame": 1102,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1102,
                    "end_frame": 1152,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1152,
                    "end_frame": 1455,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1455,
                    "end_frame": 1945,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674229,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 259,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 515,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 732,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 871,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 939,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1350,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 313,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 591,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 853,
                    "end_frame": 988,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 988,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1071,
                    "end_frame": 1506,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1506,
                    "end_frame": 2007,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674305,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 236,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 546,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 837,
                    "end_frame": 936,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 936,
                    "end_frame": 1007,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1294,
                    "end_frame": 1676,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674335,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 316,
                    "end_frame": 609,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 609,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 988,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 988,
                    "end_frame": 1058,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1058,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1255,
                    "end_frame": 1578,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674368,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 268,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 552,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 813,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 935,
                    "end_frame": 985,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 985,
                    "end_frame": 1233,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1233,
                    "end_frame": 1788,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674402,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 257,
                    "end_frame": 558,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 558,
                    "end_frame": 804,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 804,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 890,
                    "end_frame": 965,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 965,
                    "end_frame": 1276,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1276,
                    "end_frame": 1713,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674429,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 300,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 582,
                    "end_frame": 866,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 866,
                    "end_frame": 1022,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1022,
                    "end_frame": 1084,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1084,
                    "end_frame": 1313,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1313,
                    "end_frame": 1637,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674443,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 307,
                    "end_frame": 614,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 614,
                    "end_frame": 1000,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1000,
                    "end_frame": 1163,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1163,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1256,
                    "end_frame": 1427,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1427,
                    "end_frame": 1788,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 516,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 852,
                    "end_frame": 986,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 986,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1054,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "end_frame": 1585,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 470,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 737,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 846,
                    "end_frame": 918,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 918,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674532,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 516,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 747,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 874,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 919,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674552,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674570,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 926,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 680860,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 1133,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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            "key_frame": []
        }
    },
    {
        "episode_id": 680905,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1211,
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                {
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            ],
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        }
    },
    {
        "episode_id": 680953,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1355,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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            "key_frame": [
                {
                    "start": 1507,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 680972,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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                {
                    "start": 1232,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681018,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 695,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 695,
                    "end_frame": 1017,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1161,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1270,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1270,
                    "end_frame": 1741,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1741,
                    "end_frame": 2226,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681071,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 398,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 398,
                    "end_frame": 687,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 687,
                    "end_frame": 982,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 982,
                    "end_frame": 1096,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1213,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1593,
                    "end_frame": 2017,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681093,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 404,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 404,
                    "end_frame": 734,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 734,
                    "end_frame": 1000,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1138,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1138,
                    "end_frame": 1238,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1238,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1452,
                    "end_frame": 1772,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681113,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 384,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 384,
                    "end_frame": 912,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1300,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1417,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1417,
                    "end_frame": 1517,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1517,
                    "end_frame": 1731,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1731,
                    "end_frame": 2291,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681134,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 348,
                    "end_frame": 721,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 721,
                    "end_frame": 987,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1132,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1132,
                    "end_frame": 1241,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1241,
                    "end_frame": 1847,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1847,
                    "end_frame": 2384,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1241,
                    "end": 1847,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681167,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 409,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 409,
                    "end_frame": 885,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1105,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1246,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1246,
                    "end_frame": 1374,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1374,
                    "end_frame": 1663,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1663,
                    "end_frame": 2030,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681207,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 368,
                    "end_frame": 711,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 711,
                    "end_frame": 948,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1095,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1188,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1188,
                    "end_frame": 1446,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1446,
                    "end_frame": 1960,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681247,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 374,
                    "end_frame": 681,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 681,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1052,
                    "end_frame": 1212,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1212,
                    "end_frame": 1372,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1372,
                    "end_frame": 1959,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1959,
                    "end_frame": 2472,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1372,
                    "end": 1959,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681258,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 395,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 395,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 691,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 936,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1075,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1177,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1671,
                    "end_frame": 2077,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1177,
                    "end": 1671,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681313,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 307,
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                {
                    "start_frame": 639,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 965,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1150,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1246,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1559,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681334,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 1000,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1136,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 660,
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                {
                    "start_frame": 903,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1153,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1480,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681446,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "start_frame": 348,
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                {
                    "start_frame": 903,
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                {
                    "start_frame": 1170,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681518,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 620,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 817,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1012,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1494,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1012,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681530,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 698,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 868,
                    "end_frame": 994,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1107,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1107,
                    "end_frame": 1391,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1391,
                    "end_frame": 1676,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681570,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 405,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 405,
                    "end_frame": 690,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 690,
                    "end_frame": 962,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1101,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1101,
                    "end_frame": 1205,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1205,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1746,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681595,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 350,
                    "end_frame": 649,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 897,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 897,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1040,
                    "end_frame": 1142,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1142,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1640,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 390,
                    "end_frame": 942,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 942,
                    "end_frame": 1187,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1311,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1311,
                    "end_frame": 1408,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1408,
                    "end_frame": 1790,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1790,
                    "end_frame": 2070,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681667,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 361,
                    "end_frame": 689,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 689,
                    "end_frame": 981,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1114,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1114,
                    "end_frame": 1229,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1229,
                    "end_frame": 1643,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1643,
                    "end_frame": 1972,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1229,
                    "end": 1643,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681719,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 313,
                    "end_frame": 508,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 508,
                    "end_frame": 746,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 746,
                    "end_frame": 851,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 851,
                    "end_frame": 931,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 931,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1300,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 931,
                    "end": 1300,
                    "description": ""
                },
                {
                    "start": 1300,
                    "end": 1744,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 681778,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 355,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 813,
                    "end_frame": 922,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 922,
                    "end_frame": 1004,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1004,
                    "end_frame": 1394,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1394,
                    "end_frame": 1674,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1004,
                    "end": 1394,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 697859,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 464,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 464,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 941,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1398,
                    "end_frame": 1800,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1800,
                    "end_frame": 1879,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1879,
                    "end_frame": 2357,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 2357,
                    "end_frame": 3212,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 697908,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 358,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 812,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1363,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1537,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1596,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1784,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 697951,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 356,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1364,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1422,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 697994,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 699068,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699127,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                {
                    "start": 1423,
                    "end": 1980,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699145,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 0,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 699280,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1382,
                    "end_frame": 1749,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699298,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 849,
                    "end_frame": 975,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1034,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1485,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1485,
                    "end_frame": 2026,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699340,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 287,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 914,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1041,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1110,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1424,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1424,
                    "end_frame": 1861,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699348,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 338,
                    "end_frame": 685,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 685,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1098,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1098,
                    "end_frame": 1151,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1151,
                    "end_frame": 1531,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1531,
                    "end_frame": 1899,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699362,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 313,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 600,
                    "end_frame": 913,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 913,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1040,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1040,
                    "end_frame": 1437,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1437,
                    "end_frame": 2040,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699387,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 313,
                    "end_frame": 533,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 533,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 829,
                    "end_frame": 934,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 934,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1579,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 233,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 233,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 467,
                    "end_frame": 703,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 703,
                    "end_frame": 778,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 778,
                    "end_frame": 835,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 835,
                    "end_frame": 1158,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1512,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699504,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 276,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 540,
                    "end_frame": 746,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 746,
                    "end_frame": 870,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 870,
                    "end_frame": 949,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 949,
                    "end_frame": 1222,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1222,
                    "end_frame": 1555,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699524,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 268,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 523,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 864,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 864,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 920,
                    "end_frame": 1193,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1193,
                    "end_frame": 1576,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699654,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 292,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 791,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 791,
                    "end_frame": 946,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 946,
                    "end_frame": 997,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 997,
                    "end_frame": 1259,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1259,
                    "end_frame": 1889,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699678,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 266,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 568,
                    "end_frame": 866,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 866,
                    "end_frame": 969,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 969,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1036,
                    "end_frame": 1328,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1328,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699702,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 300,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 653,
                    "end_frame": 923,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 923,
                    "end_frame": 1171,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1171,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1214,
                    "end_frame": 1521,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1521,
                    "end_frame": 1949,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 280,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 501,
                    "end_frame": 678,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 678,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 824,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 930,
                    "end_frame": 1200,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1200,
                    "end_frame": 1629,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699789,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 270,
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                {
                    "start_frame": 539,
                    "end_frame": 750,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 750,
                    "end_frame": 848,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 848,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 935,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1179,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699827,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 260,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 559,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 957,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 957,
                    "end_frame": 1058,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1058,
                    "end_frame": 1318,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1318,
                    "end_frame": 1665,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699854,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 270,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 569,
                    "end_frame": 790,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 790,
                    "end_frame": 1007,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1349,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1349,
                    "end_frame": 1711,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699868,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 523,
                    "end_frame": 798,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 798,
                    "end_frame": 891,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 891,
                    "end_frame": 977,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 977,
                    "end_frame": 1133,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1133,
                    "end_frame": 1683,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699879,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 240,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 552,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 856,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 944,
                    "end_frame": 1154,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1154,
                    "end_frame": 1679,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699896,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 273,
                    "end_frame": 548,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 548,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 865,
                    "end_frame": 1033,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1033,
                    "end_frame": 1085,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1085,
                    "end_frame": 1331,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1331,
                    "end_frame": 1790,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699909,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 239,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 239,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 449,
                    "end_frame": 663,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 663,
                    "end_frame": 798,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 798,
                    "end_frame": 882,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 882,
                    "end_frame": 1089,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1089,
                    "end_frame": 1454,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699932,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 224,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 224,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 439,
                    "end_frame": 660,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 660,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 782,
                    "end_frame": 854,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 854,
                    "end_frame": 1052,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1052,
                    "end_frame": 1725,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1052,
                    "end": 1725,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700137,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 248,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 541,
                    "end_frame": 739,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 739,
                    "end_frame": 885,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 885,
                    "end_frame": 970,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 970,
                    "end_frame": 1149,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1149,
                    "end_frame": 1621,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700157,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 332,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 578,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 774,
                    "end_frame": 921,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 921,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1001,
                    "end_frame": 1187,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1187,
                    "end_frame": 1685,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700196,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 289,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 504,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 703,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 791,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 883,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1286,
                    "end_frame": 1845,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700221,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 242,
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                {
                    "start_frame": 474,
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                {
                    "start_frame": 731,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 879,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 930,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1275,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700227,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 246,
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                {
                    "start_frame": 474,
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                {
                    "start_frame": 700,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 827,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 911,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700241,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 289,
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                {
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                {
                    "start_frame": 817,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 983,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1079,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700262,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 658,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 781,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 700279,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 18,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700305,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
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                {
                    "start_frame": 460,
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                {
                    "start_frame": 687,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 832,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 940,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1303,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700314,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 505,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 505,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 879,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 879,
                    "end_frame": 976,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 976,
                    "end_frame": 1226,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1697,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700332,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 499,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 499,
                    "end_frame": 718,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 718,
                    "end_frame": 865,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 865,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1172,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 1536,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700347,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 243,
                    "end_frame": 461,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 461,
                    "end_frame": 629,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 629,
                    "end_frame": 724,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 724,
                    "end_frame": 808,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 808,
                    "end_frame": 1174,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1174,
                    "end_frame": 1487,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700365,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 290,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 546,
                    "end_frame": 763,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 763,
                    "end_frame": 905,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 905,
                    "end_frame": 974,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1307,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1922,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700378,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 287,
                    "end_frame": 636,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 636,
                    "end_frame": 890,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 890,
                    "end_frame": 1036,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1524,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1524,
                    "end_frame": 1996,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700395,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 266,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 758,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 758,
                    "end_frame": 948,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1057,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1350,
                    "end_frame": 1838,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700405,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 256,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 497,
                    "end_frame": 727,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 727,
                    "end_frame": 878,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 878,
                    "end_frame": 963,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700424,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 259,
                    "end_frame": 498,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 498,
                    "end_frame": 832,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 832,
                    "end_frame": 1021,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1021,
                    "end_frame": 1093,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1093,
                    "end_frame": 1535,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1535,
                    "end_frame": 1780,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1093,
                    "end": 1535,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700440,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 270,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 496,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 855,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 924,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1283,
                    "end_frame": 1703,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700452,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 234,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 234,
                    "end_frame": 433,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 433,
                    "end_frame": 667,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 667,
                    "end_frame": 792,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 792,
                    "end_frame": 886,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 886,
                    "end_frame": 1427,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1427,
                    "end_frame": 1750,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 283,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 519,
                    "end_frame": 846,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 846,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 971,
                    "end_frame": 1065,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1065,
                    "end_frame": 1332,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1332,
                    "end_frame": 1700,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700497,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 236,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 453,
                    "end_frame": 713,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 713,
                    "end_frame": 980,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 980,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1064,
                    "end_frame": 1400,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1400,
                    "end_frame": 1777,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700510,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 222,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 222,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 435,
                    "end_frame": 661,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 661,
                    "end_frame": 818,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 818,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 876,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1300,
                    "end_frame": 1636,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700528,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 255,
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                },
                {
                    "start_frame": 496,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 743,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 890,
                    "end_frame": 974,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 974,
                    "end_frame": 1215,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1215,
                    "end_frame": 1680,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700546,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 260,
                    "end_frame": 490,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 490,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 876,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 876,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1176,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1606,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700560,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 243,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 506,
                    "end_frame": 714,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 714,
                    "end_frame": 863,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 863,
                    "end_frame": 936,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 936,
                    "end_frame": 1119,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1429,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700576,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 237,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 237,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 514,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 723,
                    "end_frame": 861,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 861,
                    "end_frame": 947,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1132,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 1409,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700594,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 251,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 251,
                    "end_frame": 489,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 489,
                    "end_frame": 762,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 762,
                    "end_frame": 931,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 931,
                    "end_frame": 1052,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1052,
                    "end_frame": 1280,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1280,
                    "end_frame": 1635,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700624,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 227,
                    "end_frame": 451,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 451,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 726,
                    "end_frame": 886,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 886,
                    "end_frame": 975,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 975,
                    "end_frame": 1194,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1194,
                    "end_frame": 1535,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700650,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 126,
                    "end_frame": 401,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 401,
                    "end_frame": 606,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 606,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 853,
                    "end_frame": 981,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 981,
                    "end_frame": 1069,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1069,
                    "end_frame": 1399,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1399,
                    "end_frame": 1668,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700679,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 247,
                    "end_frame": 460,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 460,
                    "end_frame": 642,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 642,
                    "end_frame": 746,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 746,
                    "end_frame": 826,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 826,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1045,
                    "end_frame": 1464,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700687,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 261,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 486,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 645,
                    "end_frame": 769,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 769,
                    "end_frame": 858,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 858,
                    "end_frame": 1083,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1083,
                    "end_frame": 1477,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701342,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 310,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 613,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 865,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 985,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1070,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1358,
                    "end_frame": 1913,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701388,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 303,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 511,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 770,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 928,
                    "end_frame": 1000,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1000,
                    "end_frame": 1360,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1360,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701410,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 268,
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                {
                    "start_frame": 465,
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                {
                    "start_frame": 670,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 805,
                    "end_frame": 890,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 890,
                    "end_frame": 1215,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1215,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701426,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 254,
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                {
                    "start_frame": 488,
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                {
                    "start_frame": 674,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 813,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 904,
                    "end_frame": 1123,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1123,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701456,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 261,
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                {
                    "start_frame": 482,
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                {
                    "start_frame": 692,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 811,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 893,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1311,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701477,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 263,
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                {
                    "start_frame": 452,
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                {
                    "start_frame": 648,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 772,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 887,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1102,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701490,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
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                {
                    "start_frame": 529,
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                {
                    "start_frame": 1043,
                    "end_frame": 1196,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1196,
                    "end_frame": 1276,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1276,
                    "end_frame": 1494,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1494,
                    "end_frame": 1834,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 539,
                    "end": 1043,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 701504,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 233,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 233,
                    "end_frame": 420,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 420,
                    "end_frame": 594,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 594,
                    "end_frame": 708,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 708,
                    "end_frame": 807,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 807,
                    "end_frame": 966,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1377,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701517,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 260,
                    "end_frame": 464,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 464,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 847,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 847,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 944,
                    "end_frame": 1274,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1692,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701609,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 550,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 550,
                    "end_frame": 776,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 776,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 889,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1001,
                    "end_frame": 1149,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1712,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701623,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 234,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 234,
                    "end_frame": 431,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 431,
                    "end_frame": 653,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 653,
                    "end_frame": 759,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 759,
                    "end_frame": 850,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 850,
                    "end_frame": 1035,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1035,
                    "end_frame": 1646,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701634,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 271,
                    "end_frame": 507,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 507,
                    "end_frame": 791,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 791,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 903,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1015,
                    "end_frame": 1160,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1160,
                    "end_frame": 1569,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701648,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 249,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 249,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 495,
                    "end_frame": 810,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 810,
                    "end_frame": 910,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 910,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1015,
                    "end_frame": 1134,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1134,
                    "end_frame": 1611,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705239,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 254,
                    "end_frame": 446,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 446,
                    "end_frame": 700,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 700,
                    "end_frame": 866,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 866,
                    "end_frame": 975,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 975,
                    "end_frame": 1232,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1232,
                    "end_frame": 1775,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705252,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 280,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 547,
                    "end_frame": 742,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 742,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 901,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1010,
                    "end_frame": 1192,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1192,
                    "end_frame": 1886,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705274,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 62,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 287,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 582,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 807,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 942,
                    "end_frame": 1051,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1051,
                    "end_frame": 1202,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1202,
                    "end_frame": 1665,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705285,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 321,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 321,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 615,
                    "end_frame": 816,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 816,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 990,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1092,
                    "end_frame": 1252,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1252,
                    "end_frame": 1694,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705310,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 266,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 561,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 812,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 963,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1051,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1196,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705339,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 226,
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                {
                    "start_frame": 452,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 727,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 900,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 992,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1255,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705353,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 238,
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                {
                    "start_frame": 521,
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                {
                    "start_frame": 767,
                    "end_frame": 929,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 929,
                    "end_frame": 1049,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1049,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1260,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705369,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 264,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 510,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 812,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 998,
                    "end_frame": 1128,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1128,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1314,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705401,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 249,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 512,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 759,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 919,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1022,
                    "end_frame": 1246,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1246,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705421,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 227,
                    "end_frame": 425,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 425,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 893,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 893,
                    "end_frame": 990,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1173,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1608,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705438,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 250,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 484,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 871,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1200,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 2048,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705470,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 264,
                    "end_frame": 451,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 451,
                    "end_frame": 864,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 864,
                    "end_frame": 1067,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1067,
                    "end_frame": 1187,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1187,
                    "end_frame": 1352,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1352,
                    "end_frame": 1755,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705494,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 256,
                    "end_frame": 481,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 481,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 770,
                    "end_frame": 912,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 912,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1032,
                    "end_frame": 1245,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1245,
                    "end_frame": 1804,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705516,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 286,
                    "end_frame": 560,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 560,
                    "end_frame": 807,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 807,
                    "end_frame": 920,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 920,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1020,
                    "end_frame": 1320,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1320,
                    "end_frame": 1635,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705545,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 266,
                    "end_frame": 459,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 459,
                    "end_frame": 627,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 627,
                    "end_frame": 746,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 746,
                    "end_frame": 859,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 859,
                    "end_frame": 1059,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1059,
                    "end_frame": 1441,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705562,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 259,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 565,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 977,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1107,
                    "end_frame": 1203,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1203,
                    "end_frame": 1331,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1331,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705581,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 260,
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                {
                    "start_frame": 548,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 866,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1013,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1123,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1288,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705602,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 239,
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                {
                    "start_frame": 474,
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                {
                    "start_frame": 793,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 974,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1132,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698133,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 333,
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                {
                    "start_frame": 849,
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                {
                    "start_frame": 1208,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1363,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1438,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1861,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 698293,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 317,
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                    "start_frame": 600,
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                {
                    "start_frame": 947,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1156,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1264,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1264,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698340,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 309,
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                {
                    "start_frame": 568,
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                {
                    "start_frame": 812,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 987,
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698349,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 22,
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                    "start_frame": 293,
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                    "start_frame": 519,
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                {
                    "start_frame": 782,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1005,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
                    "start_frame": 1438,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 698505,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
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                    "start_frame": 645,
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                {
                    "start_frame": 975,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
                    "start_frame": 1245,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698580,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 236,
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                {
                    "start_frame": 530,
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                },
                {
                    "start_frame": 841,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1123,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1635,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1635,
                    "end_frame": 2214,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1123,
                    "end": 1635,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698615,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 283,
                    "end_frame": 639,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 639,
                    "end_frame": 942,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1145,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1145,
                    "end_frame": 1245,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1245,
                    "end_frame": 1732,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1732,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698715,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 307,
                    "end_frame": 601,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 601,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1098,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1098,
                    "end_frame": 1185,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1185,
                    "end_frame": 1432,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1432,
                    "end_frame": 1649,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698799,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 268,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 540,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 857,
                    "end_frame": 1004,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1004,
                    "end_frame": 1061,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1061,
                    "end_frame": 1498,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1498,
                    "end_frame": 1830,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 322,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 322,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 585,
                    "end_frame": 930,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 930,
                    "end_frame": 1233,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1233,
                    "end_frame": 1320,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1320,
                    "end_frame": 1636,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1636,
                    "end_frame": 2018,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698977,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 322,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 322,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 540,
                    "end_frame": 972,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1153,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1153,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1256,
                    "end_frame": 1758,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1758,
                    "end_frame": 2020,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1256,
                    "end": 1758,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699021,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 473,
                    "end_frame": 780,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 780,
                    "end_frame": 967,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 967,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1050,
                    "end_frame": 1416,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1416,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1050,
                    "end": 1416,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 701666,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 345,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 728,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1091,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1400,
                    "end_frame": 1475,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1475,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1693,
                    "end_frame": 2111,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701670,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 303,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 647,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1025,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1363,
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1802,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701677,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 314,
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                {
                    "start_frame": 553,
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                {
                    "start_frame": 869,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1080,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1185,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1472,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 701683,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
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                {
                    "start_frame": 620,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1319,
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                {
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                {
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        }
    },
    {
        "episode_id": 701692,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                {
                    "start_frame": 2081,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701704,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 16,
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                {
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                {
                    "start_frame": 935,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 701731,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 523,
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                {
                    "start_frame": 837,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 701748,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 531,
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                {
                    "start_frame": 801,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1032,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1175,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1495,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701757,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 317,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 522,
                    "end_frame": 805,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 805,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1137,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1377,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1377,
                    "end_frame": 1899,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701771,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 347,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 595,
                    "end_frame": 889,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1142,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1245,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1245,
                    "end_frame": 1517,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1517,
                    "end_frame": 1997,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701795,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 336,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 542,
                    "end_frame": 878,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1088,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1088,
                    "end_frame": 1184,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1184,
                    "end_frame": 1417,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1417,
                    "end_frame": 1767,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701809,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 307,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 513,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 734,
                    "end_frame": 961,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 961,
                    "end_frame": 1091,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1091,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1351,
                    "end_frame": 1925,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701825,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 328,
                    "end_frame": 541,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 541,
                    "end_frame": 948,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1163,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1163,
                    "end_frame": 1309,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1309,
                    "end_frame": 1527,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1527,
                    "end_frame": 2077,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701838,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 321,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 321,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 546,
                    "end_frame": 876,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 876,
                    "end_frame": 1095,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1095,
                    "end_frame": 1219,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1219,
                    "end_frame": 1512,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1512,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701857,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 306,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 555,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 843,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1070,
                    "end_frame": 1257,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1257,
                    "end_frame": 1561,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1561,
                    "end_frame": 2056,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701869,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 314,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 522,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 769,
                    "end_frame": 983,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 983,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1125,
                    "end_frame": 1400,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1400,
                    "end_frame": 1832,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701882,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 272,
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                {
                    "start_frame": 475,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 782,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 961,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1071,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1481,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701901,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 606,
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                {
                    "start_frame": 879,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1150,
                    "end_frame": 1273,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1273,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1667,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701915,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 295,
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                {
                    "start_frame": 522,
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                {
                    "start_frame": 797,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 987,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1120,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1500,
                    "end_frame": 1960,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701933,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 319,
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                {
                    "start_frame": 509,
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                {
                    "start_frame": 760,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 969,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1102,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1314,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701947,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 314,
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                {
                    "start_frame": 506,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 757,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 991,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1124,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701964,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 298,
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                {
                    "start_frame": 522,
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                {
                    "start_frame": 799,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 946,
                    "end_frame": 1085,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1085,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1326,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1326,
                    "end": 2582,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 701977,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 358,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 632,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 860,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1071,
                    "end_frame": 1168,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1168,
                    "end_frame": 1488,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1488,
                    "end_frame": 2479,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701995,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 255,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 488,
                    "end_frame": 704,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 704,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 959,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1649,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702013,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 249,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 249,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1016,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1371,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1371,
                    "end_frame": 2991,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1371,
                    "end": 2991,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702027,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 292,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 506,
                    "end_frame": 757,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 757,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1022,
                    "end_frame": 1559,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1559,
                    "end_frame": 2207,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1022,
                    "end": 1559,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702059,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 297,
                    "end_frame": 586,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 586,
                    "end_frame": 785,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 785,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 947,
                    "end_frame": 1105,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1105,
                    "end_frame": 1725,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1725,
                    "end_frame": 2410,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702070,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 267,
                    "end_frame": 535,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 535,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 939,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 939,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1050,
                    "end_frame": 1491,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1491,
                    "end_frame": 1918,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702084,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 273,
                    "end_frame": 654,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 654,
                    "end_frame": 837,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 837,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 941,
                    "end_frame": 1058,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1058,
                    "end_frame": 1436,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1436,
                    "end_frame": 1843,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702097,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 245,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 449,
                    "end_frame": 725,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 725,
                    "end_frame": 863,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 863,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 924,
                    "end_frame": 1369,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1369,
                    "end_frame": 1874,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702112,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 261,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 521,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 890,
                    "end_frame": 1004,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1004,
                    "end_frame": 1290,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1290,
                    "end_frame": 1812,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702122,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 270,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 498,
                    "end_frame": 719,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 719,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 856,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 951,
                    "end_frame": 1205,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1205,
                    "end_frame": 1872,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 249,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 249,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 455,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 831,
                    "end_frame": 1014,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1014,
                    "end_frame": 1136,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1136,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1394,
                    "end_frame": 2099,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702166,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 284,
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                {
                    "start_frame": 553,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 788,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 958,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1063,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1279,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702184,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 255,
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                {
                    "start_frame": 495,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 774,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 942,
                    "end_frame": 1024,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1024,
                    "end_frame": 1554,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1554,
                    "end_frame": 1968,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702195,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 249,
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                {
                    "start_frame": 474,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 690,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 911,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1055,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1318,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702207,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 276,
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                {
                    "start_frame": 475,
                    "end_frame": 763,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 763,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1048,
                    "end_frame": 1164,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1164,
                    "end_frame": 1684,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1684,
                    "end_frame": 2255,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702217,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 256,
                    "end_frame": 457,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 457,
                    "end_frame": 700,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 700,
                    "end_frame": 922,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 922,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1428,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1428,
                    "end_frame": 2024,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702234,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 251,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 251,
                    "end_frame": 463,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 463,
                    "end_frame": 1010,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1196,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1196,
                    "end_frame": 1340,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1340,
                    "end_frame": 1523,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1523,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702246,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 282,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 496,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 853,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 853,
                    "end_frame": 988,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 988,
                    "end_frame": 1375,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1375,
                    "end_frame": 1736,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 250,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 454,
                    "end_frame": 733,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 733,
                    "end_frame": 844,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 844,
                    "end_frame": 948,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 948,
                    "end_frame": 1378,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1378,
                    "end_frame": 1719,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 948,
                    "end": 1378,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702271,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 255,
                    "end_frame": 432,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 432,
                    "end_frame": 717,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 717,
                    "end_frame": 896,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 896,
                    "end_frame": 1009,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1009,
                    "end_frame": 1743,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1743,
                    "end_frame": 2325,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 232,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 232,
                    "end_frame": 438,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 438,
                    "end_frame": 677,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 677,
                    "end_frame": 817,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 817,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 907,
                    "end_frame": 1339,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1339,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702311,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 266,
                    "end_frame": 487,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 487,
                    "end_frame": 718,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 718,
                    "end_frame": 844,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 844,
                    "end_frame": 938,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 938,
                    "end_frame": 1263,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1263,
                    "end_frame": 1695,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702329,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 252,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 425,
                    "end_frame": 702,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 702,
                    "end_frame": 816,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 816,
                    "end_frame": 939,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 939,
                    "end_frame": 1571,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1571,
                    "end_frame": 2356,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702368,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 239,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 239,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 471,
                    "end_frame": 680,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 680,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 808,
                    "end_frame": 937,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 937,
                    "end_frame": 1210,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1210,
                    "end_frame": 1680,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702382,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 272,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 623,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 806,
                    "end_frame": 992,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 992,
                    "end_frame": 1080,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1080,
                    "end_frame": 1271,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1271,
                    "end_frame": 1794,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 253,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 567,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 818,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 951,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1086,
                    "end_frame": 1435,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1435,
                    "end_frame": 1993,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702407,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 258,
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                {
                    "start_frame": 487,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 723,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 836,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 945,
                    "end_frame": 1133,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1133,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702420,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 239,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 239,
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                {
                    "start_frame": 453,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 841,
                    "end_frame": 1029,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1029,
                    "end_frame": 1170,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1170,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1593,
                    "end_frame": 2173,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702435,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 233,
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                },
                {
                    "start_frame": 451,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 728,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 897,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1019,
                    "end_frame": 1531,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1531,
                    "end_frame": 2082,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702449,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 229,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 229,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 426,
                    "end_frame": 754,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 754,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 875,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 989,
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                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1297,
                    "end_frame": 1883,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702463,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 779,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 779,
                    "end_frame": 884,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 884,
                    "end_frame": 993,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1674,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702477,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 261,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 512,
                    "end_frame": 799,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 799,
                    "end_frame": 967,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1092,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1591,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1591,
                    "end_frame": 2310,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702491,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 273,
                    "end_frame": 480,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 480,
                    "end_frame": 696,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 696,
                    "end_frame": 818,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 818,
                    "end_frame": 953,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 953,
                    "end_frame": 1131,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1131,
                    "end_frame": 1638,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702533,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 278,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 484,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 852,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 852,
                    "end_frame": 933,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 933,
                    "end_frame": 1332,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1332,
                    "end_frame": 1755,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702550,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 305,
                    "end_frame": 573,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 573,
                    "end_frame": 789,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 789,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 930,
                    "end_frame": 1031,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1031,
                    "end_frame": 1307,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1307,
                    "end_frame": 1673,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702590,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 295,
                    "end_frame": 481,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 481,
                    "end_frame": 838,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 838,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 991,
                    "end_frame": 1088,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1088,
                    "end_frame": 1457,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1457,
                    "end_frame": 2335,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670875,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 327,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 327,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 571,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 813,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 943,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1064,
                    "end_frame": 1194,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1194,
                    "end_frame": 1731,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670892,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 425,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 650,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 871,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 972,
                    "end_frame": 1113,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1113,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1299,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671235,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 262,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 494,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 779,
                    "end_frame": 900,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 900,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1015,
                    "end_frame": 1151,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1151,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674608,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 620,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 915,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1065,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1151,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1345,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674613,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 396,
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                {
                    "start_frame": 602,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 845,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 946,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1044,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1184,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674619,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 368,
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                {
                    "start_frame": 574,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 852,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 961,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1034,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674675,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 585,
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                {
                    "start_frame": 791,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 901,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 996,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1112,
                    "end": 1561,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 674701,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 322,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 526,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 794,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 882,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 969,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1136,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674831,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 311,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 504,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 811,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 811,
                    "end_frame": 903,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1196,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1196,
                    "end_frame": 1534,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674837,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 514,
                    "end_frame": 841,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 841,
                    "end_frame": 924,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 924,
                    "end_frame": 1044,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1613,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674867,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 313,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 549,
                    "end_frame": 760,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 760,
                    "end_frame": 845,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 845,
                    "end_frame": 1021,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1021,
                    "end_frame": 1180,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1520,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674893,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 288,
                    "end_frame": 472,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 472,
                    "end_frame": 692,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 692,
                    "end_frame": 764,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 764,
                    "end_frame": 863,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 863,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1247,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674932,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 352,
                    "end_frame": 550,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 550,
                    "end_frame": 760,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 760,
                    "end_frame": 842,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 842,
                    "end_frame": 949,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 949,
                    "end_frame": 1181,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1181,
                    "end_frame": 1459,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674949,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 327,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 327,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 500,
                    "end_frame": 698,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 698,
                    "end_frame": 788,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 788,
                    "end_frame": 873,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 873,
                    "end_frame": 1110,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1380,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674961,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 324,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 564,
                    "end_frame": 800,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 800,
                    "end_frame": 877,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 877,
                    "end_frame": 974,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 974,
                    "end_frame": 1205,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1205,
                    "end_frame": 1458,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674973,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 307,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 472,
                    "end_frame": 717,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 717,
                    "end_frame": 814,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 814,
                    "end_frame": 986,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 986,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1351,
                    "end_frame": 1666,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 986,
                    "end": 1351,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 674992,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 345,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 531,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 829,
                    "end_frame": 907,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 907,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1015,
                    "end_frame": 1217,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1217,
                    "end_frame": 1650,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675006,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 298,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 522,
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                {
                    "start_frame": 799,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 893,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 959,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1169,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675016,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 324,
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                {
                    "start_frame": 576,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 803,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 893,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1066,
                    "end_frame": 1228,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1228,
                    "end_frame": 1548,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675038,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 337,
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                {
                    "start_frame": 499,
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                {
                    "start_frame": 834,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 915,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1105,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675058,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 353,
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                {
                    "start_frame": 561,
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                {
                    "start_frame": 756,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 830,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675074,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 391,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 391,
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                {
                    "start_frame": 871,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 952,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1128,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1505,
                    "end_frame": 1983,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675084,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 317,
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                {
                    "start_frame": 511,
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                {
                    "start_frame": 697,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 762,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 937,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1120,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675096,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 330,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 575,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 575,
                    "end_frame": 831,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 831,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1035,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1035,
                    "end_frame": 1219,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1219,
                    "end_frame": 1481,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675118,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 297,
                    "end_frame": 507,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 507,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 815,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 815,
                    "end_frame": 967,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1100,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1479,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675131,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 333,
                    "end_frame": 481,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 481,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 805,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 805,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 980,
                    "end_frame": 1144,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1144,
                    "end_frame": 1472,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675163,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 278,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 473,
                    "end_frame": 701,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 701,
                    "end_frame": 771,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 771,
                    "end_frame": 955,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 955,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1255,
                    "end_frame": 1490,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 955,
                    "end": 1255,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675207,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 350,
                    "end_frame": 519,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 519,
                    "end_frame": 764,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 764,
                    "end_frame": 841,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 841,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1208,
                    "end_frame": 1615,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675220,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 301,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 488,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 723,
                    "end_frame": 774,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 774,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 909,
                    "end_frame": 1086,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1086,
                    "end_frame": 1350,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675236,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 501,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 710,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 775,
                    "end_frame": 913,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 913,
                    "end_frame": 1080,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1080,
                    "end_frame": 1364,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675247,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 284,
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                {
                    "start_frame": 483,
                    "end_frame": 695,
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                {
                    "start_frame": 695,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 767,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 885,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1034,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675281,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 323,
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                {
                    "start_frame": 518,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 716,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 804,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 941,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675297,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 480,
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                {
                    "start_frame": 685,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 759,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 896,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675347,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 796,
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                {
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            ],
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    },
    {
        "episode_id": 675379,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
                    "start_frame": 778,
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                {
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            ],
            "key_frame": []
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    },
    {
        "episode_id": 675394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 727,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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        }
    },
    {
        "episode_id": 675412,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 640,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 675433,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
                    "start_frame": 465,
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                {
                    "start_frame": 658,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 723,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 842,
                    "end_frame": 981,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1287,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675452,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 296,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 469,
                    "end_frame": 715,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 715,
                    "end_frame": 772,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 772,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1042,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1468,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675505,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 235,
                    "end_frame": 436,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 436,
                    "end_frame": 650,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 650,
                    "end_frame": 722,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 722,
                    "end_frame": 870,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 870,
                    "end_frame": 1154,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1154,
                    "end_frame": 1411,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 870,
                    "end": 1154,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675566,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 296,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 532,
                    "end_frame": 753,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 753,
                    "end_frame": 819,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 819,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 924,
                    "end_frame": 1049,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1049,
                    "end_frame": 1432,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675579,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 310,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 528,
                    "end_frame": 717,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 717,
                    "end_frame": 786,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 786,
                    "end_frame": 865,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 865,
                    "end_frame": 1019,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1019,
                    "end_frame": 1402,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675643,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 443,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "end_frame": 647,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 647,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 853,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 943,
                    "end_frame": 1055,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1055,
                    "end_frame": 1169,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1169,
                    "end_frame": 1588,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675663,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
                    "end_frame": 492,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 492,
                    "end_frame": 712,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 712,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 808,
                    "end_frame": 976,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 976,
                    "end_frame": 1077,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1077,
                    "end_frame": 1416,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675682,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 379,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 552,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 882,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 882,
                    "end_frame": 1027,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1027,
                    "end_frame": 1151,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1151,
                    "end_frame": 1464,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675706,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 273,
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                {
                    "start_frame": 480,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 801,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 895,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1049,
                    "end_frame": 1188,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1188,
                    "end_frame": 1484,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675719,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 283,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 501,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 718,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 835,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 952,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1098,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675735,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 256,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 401,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 705,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 804,
                    "end_frame": 945,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 945,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1073,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675747,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 291,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 291,
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                {
                    "start_frame": 489,
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                {
                    "start_frame": 701,
                    "end_frame": 793,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 793,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 956,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1078,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675758,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "start_frame": 248,
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                {
                    "start_frame": 457,
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                {
                    "start_frame": 683,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 776,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "start_frame": 1063,
                    "end_frame": 1789,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1063,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675770,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 267,
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                {
                    "start_frame": 469,
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                {
                    "start_frame": 676,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 757,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 899,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675786,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "start_frame": 440,
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                {
                    "start_frame": 677,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 741,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 816,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1135,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 816,
                    "end": 1135,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675814,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 705,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 705,
                    "end_frame": 775,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 775,
                    "end_frame": 937,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1086,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1491,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675848,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 295,
                    "end_frame": 490,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 490,
                    "end_frame": 732,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 732,
                    "end_frame": 822,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 822,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 956,
                    "end_frame": 1145,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1145,
                    "end_frame": 1486,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675865,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 289,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 488,
                    "end_frame": 718,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 718,
                    "end_frame": 792,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 792,
                    "end_frame": 884,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 884,
                    "end_frame": 1029,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1029,
                    "end_frame": 1416,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675883,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 262,
                    "end_frame": 461,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 461,
                    "end_frame": 671,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 671,
                    "end_frame": 751,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 751,
                    "end_frame": 851,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 851,
                    "end_frame": 981,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 981,
                    "end_frame": 1401,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675894,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 306,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "end_frame": 515,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 515,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 716,
                    "end_frame": 815,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 815,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 956,
                    "end_frame": 1099,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1099,
                    "end_frame": 1447,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675911,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 288,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 647,
                    "end_frame": 713,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 713,
                    "end_frame": 846,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 846,
                    "end_frame": 1016,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1016,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675944,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 481,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 680,
                    "end_frame": 780,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 780,
                    "end_frame": 905,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 905,
                    "end_frame": 1134,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1134,
                    "end_frame": 1460,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675985,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 490,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 717,
                    "end_frame": 800,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 800,
                    "end_frame": 936,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 936,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1087,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676016,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 452,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 707,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 787,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 908,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1078,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676036,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 448,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 708,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 775,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 902,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1121,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676055,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 252,
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                {
                    "start_frame": 470,
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                {
                    "start_frame": 768,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 828,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 936,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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            ],
            "key_frame": [
                {
                    "start": 936,
                    "end": 1286,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676091,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 931,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 676130,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
                    "start_frame": 716,
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                {
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        }
    },
    {
        "episode_id": 676155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 676173,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 352,
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                {
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                {
                    "start_frame": 841,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1188,
                    "end_frame": 1551,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676188,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 269,
                    "end_frame": 439,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 439,
                    "end_frame": 671,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 671,
                    "end_frame": 732,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 732,
                    "end_frame": 878,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 878,
                    "end_frame": 1065,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1065,
                    "end_frame": 1421,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676204,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 304,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 304,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 506,
                    "end_frame": 720,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 720,
                    "end_frame": 779,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 779,
                    "end_frame": 939,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 939,
                    "end_frame": 1081,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1081,
                    "end_frame": 1414,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676220,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 264,
                    "end_frame": 465,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 465,
                    "end_frame": 708,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 708,
                    "end_frame": 772,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 772,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 920,
                    "end_frame": 1212,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1212,
                    "end_frame": 1729,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676250,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 263,
                    "end_frame": 426,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 426,
                    "end_frame": 672,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 672,
                    "end_frame": 772,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 772,
                    "end_frame": 911,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 911,
                    "end_frame": 1051,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1051,
                    "end_frame": 1406,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676266,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "start_frame": 446,
                    "end_frame": 753,
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                {
                    "start_frame": 753,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 821,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 924,
                    "end_frame": 1081,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1081,
                    "end_frame": 1323,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676311,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 250,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 460,
                    "end_frame": 694,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 694,
                    "end_frame": 760,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 760,
                    "end_frame": 858,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 858,
                    "end_frame": 1001,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1001,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676322,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 821,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 904,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 978,
                    "end_frame": 1169,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676346,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 514,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 736,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 799,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 952,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1100,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676367,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 487,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 726,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 780,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 907,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1121,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 428,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 745,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 843,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 991,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 676396,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "start_frame": 540,
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                {
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                {
                    "start_frame": 880,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1020,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 1020,
                    "end": 1479,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676408,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 545,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 681273,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 888,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 978,
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                {
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                {
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            "key_frame": []
        }
    },
    {
        "episode_id": 681286,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                {
                    "start_frame": 336,
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                {
                    "start_frame": 586,
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                {
                    "start_frame": 835,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 916,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681320,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 340,
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                {
                    "start_frame": 565,
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                },
                {
                    "start_frame": 784,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 889,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1143,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1143,
                    "end_frame": 1604,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681472,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 378,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 378,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 903,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 903,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1284,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1612,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681617,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 332,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 798,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 798,
                    "end_frame": 937,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 937,
                    "end_frame": 984,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1177,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1595,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681763,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 328,
                    "end_frame": 594,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 594,
                    "end_frame": 842,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 842,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 1689,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681783,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 359,
                    "end_frame": 583,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 583,
                    "end_frame": 860,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 860,
                    "end_frame": 982,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 982,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1076,
                    "end_frame": 1386,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1665,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681801,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 355,
                    "end_frame": 551,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 551,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 944,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 944,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1032,
                    "end_frame": 1321,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1321,
                    "end_frame": 1699,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681819,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 324,
                    "end_frame": 538,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 538,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 809,
                    "end_frame": 934,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1033,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1290,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1290,
                    "end_frame": 1550,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681847,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 302,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 302,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 546,
                    "end_frame": 794,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 794,
                    "end_frame": 897,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 897,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1537,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681880,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 353,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 569,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 829,
                    "end_frame": 965,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 965,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1050,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1315,
                    "end_frame": 1619,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681898,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 303,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 556,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 788,
                    "end_frame": 897,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 897,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1325,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1325,
                    "end_frame": 1594,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 681936,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 333,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 570,
                    "end_frame": 818,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 818,
                    "end_frame": 923,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 923,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1032,
                    "end_frame": 1384,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1384,
                    "end_frame": 1651,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682047,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 387,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 631,
                    "end_frame": 947,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 947,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1048,
                    "end_frame": 1133,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1133,
                    "end_frame": 1501,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1501,
                    "end_frame": 1798,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682096,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 308,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 308,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 553,
                    "end_frame": 816,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 816,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 938,
                    "end_frame": 1029,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1029,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1208,
                    "end_frame": 1469,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682112,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 339,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 565,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 862,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 967,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1082,
                    "end_frame": 1453,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1453,
                    "end_frame": 1764,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682129,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 329,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 618,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 915,
                    "end_frame": 1028,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1028,
                    "end_frame": 1152,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1152,
                    "end_frame": 1533,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1533,
                    "end_frame": 1762,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682163,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 333,
                    "end_frame": 548,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 548,
                    "end_frame": 846,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 846,
                    "end_frame": 1003,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1096,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1369,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1369,
                    "end_frame": 1712,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682179,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 585,
                    "end_frame": 873,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 873,
                    "end_frame": 984,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1105,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1420,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1420,
                    "end_frame": 1739,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682222,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 284,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 880,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 880,
                    "end_frame": 979,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1063,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1063,
                    "end_frame": 1343,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1343,
                    "end_frame": 1622,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682241,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 324,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 528,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 926,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 926,
                    "end_frame": 1052,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1052,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1773,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682262,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 331,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 960,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1079,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1421,
                    "end_frame": 1682,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682276,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 432,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 432,
                    "end_frame": 737,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 737,
                    "end_frame": 1016,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1102,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1102,
                    "end_frame": 1236,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1236,
                    "end_frame": 1560,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1560,
                    "end_frame": 1853,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682292,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 379,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 630,
                    "end_frame": 972,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1083,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1083,
                    "end_frame": 1184,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1184,
                    "end_frame": 1537,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1537,
                    "end_frame": 1837,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682305,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 378,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 378,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 605,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 972,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1066,
                    "end_frame": 1348,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1348,
                    "end_frame": 1594,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682374,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 319,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 551,
                    "end_frame": 855,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 855,
                    "end_frame": 985,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 985,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1081,
                    "end_frame": 1281,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1281,
                    "end_frame": 1645,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 345,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 569,
                    "end_frame": 859,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 859,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 950,
                    "end_frame": 1040,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1040,
                    "end_frame": 1417,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1417,
                    "end_frame": 1658,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682455,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 387,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 628,
                    "end_frame": 898,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 898,
                    "end_frame": 1028,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1028,
                    "end_frame": 1166,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1166,
                    "end_frame": 1479,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1479,
                    "end_frame": 1770,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682467,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 345,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 586,
                    "end_frame": 869,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 869,
                    "end_frame": 980,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 980,
                    "end_frame": 1121,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1121,
                    "end_frame": 1460,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1460,
                    "end_frame": 1727,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682492,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 325,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 520,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 755,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 870,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1265,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1265,
                    "end_frame": 1553,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682515,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 296,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 567,
                    "end_frame": 837,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 837,
                    "end_frame": 964,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 964,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1054,
                    "end_frame": 1406,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1406,
                    "end_frame": 1713,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682535,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 345,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 816,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 816,
                    "end_frame": 927,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1132,
                    "end_frame": 1289,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1289,
                    "end_frame": 1564,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682633,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 758,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 758,
                    "end_frame": 845,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 845,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1187,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1446,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682651,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 567,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 865,
                    "end_frame": 972,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1234,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1485,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682670,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 283,
                    "end_frame": 551,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 551,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 924,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1186,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1186,
                    "end_frame": 1445,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 347,
                    "end_frame": 594,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 594,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 965,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1589,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682769,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 415,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 415,
                    "end_frame": 686,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 686,
                    "end_frame": 1006,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1124,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1240,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1240,
                    "end_frame": 1479,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1479,
                    "end_frame": 1717,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682817,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 381,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 381,
                    "end_frame": 604,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 604,
                    "end_frame": 855,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 855,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1028,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1351,
                    "end_frame": 1626,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682868,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 397,
                    "end_frame": 633,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 633,
                    "end_frame": 861,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 861,
                    "end_frame": 955,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1062,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1399,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1399,
                    "end_frame": 1697,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682887,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 431,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 431,
                    "end_frame": 667,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 667,
                    "end_frame": 968,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 968,
                    "end_frame": 1124,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1232,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1498,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1498,
                    "end_frame": 1929,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682907,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 382,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 382,
                    "end_frame": 655,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 655,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 982,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 982,
                    "end_frame": 1072,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1347,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1347,
                    "end_frame": 1740,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682923,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 411,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 411,
                    "end_frame": 788,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 788,
                    "end_frame": 1043,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1146,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1146,
                    "end_frame": 1231,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1231,
                    "end_frame": 1563,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1563,
                    "end_frame": 1837,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682944,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 388,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 388,
                    "end_frame": 618,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 618,
                    "end_frame": 946,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1070,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1070,
                    "end_frame": 1202,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1202,
                    "end_frame": 1552,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1552,
                    "end_frame": 1904,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682961,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 343,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 635,
                    "end_frame": 953,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 953,
                    "end_frame": 1047,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1047,
                    "end_frame": 1175,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1175,
                    "end_frame": 1431,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1431,
                    "end_frame": 1735,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682975,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 434,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 754,
                    "end_frame": 979,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 979,
                    "end_frame": 1133,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1133,
                    "end_frame": 1168,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1168,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1421,
                    "end_frame": 1776,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682991,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 394,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 394,
                    "end_frame": 678,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 678,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 876,
                    "end_frame": 1034,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1034,
                    "end_frame": 1096,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1448,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1448,
                    "end_frame": 1840,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683316,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 342,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 772,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 772,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1275,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1275,
                    "end_frame": 1682,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684373,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 332,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 797,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 797,
                    "end_frame": 937,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 937,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1064,
                    "end_frame": 1448,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1448,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684386,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 334,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 334,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 852,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 852,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 950,
                    "end_frame": 1045,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1045,
                    "end_frame": 1370,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1370,
                    "end_frame": 1681,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684402,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 339,
                    "end_frame": 781,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 781,
                    "end_frame": 1011,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1011,
                    "end_frame": 1150,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1150,
                    "end_frame": 1227,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1227,
                    "end_frame": 1669,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1669,
                    "end_frame": 2028,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684420,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 351,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 553,
                    "end_frame": 836,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 836,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 925,
                    "end_frame": 1074,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1074,
                    "end_frame": 1467,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1467,
                    "end_frame": 1711,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684432,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 317,
                    "end_frame": 570,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 570,
                    "end_frame": 854,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 854,
                    "end_frame": 975,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 975,
                    "end_frame": 1059,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1059,
                    "end_frame": 1273,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1273,
                    "end_frame": 1554,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684464,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 326,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 326,
                    "end_frame": 521,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 521,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 823,
                    "end_frame": 937,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 937,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1026,
                    "end_frame": 1221,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1221,
                    "end_frame": 1598,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684488,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 309,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 615,
                    "end_frame": 1009,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1117,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1117,
                    "end_frame": 1216,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1216,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1450,
                    "end_frame": 1819,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684498,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 307,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 540,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 849,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 936,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1019,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1350,
                    "end_frame": 1908,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1019,
                    "end": 1350,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684510,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 365,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 620,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 922,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1009,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1105,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1312,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684560,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 343,
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                {
                    "start_frame": 687,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 950,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1108,
                    "end_frame": 1195,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1195,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1386,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684572,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 358,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 655,
                    "end_frame": 888,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 888,
                    "end_frame": 1046,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1046,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1168,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1338,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684601,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 376,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1062,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1167,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1289,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1483,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684612,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 348,
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                {
                    "start_frame": 648,
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                {
                    "start_frame": 855,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 957,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1437,
                    "end_frame": 1923,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1065,
                    "end": 1437,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684620,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 337,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 594,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 907,
                    "end_frame": 1035,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1035,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1119,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1307,
                    "end_frame": 1626,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684655,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 636,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 636,
                    "end_frame": 929,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1039,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1705,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684691,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 360,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 360,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 630,
                    "end_frame": 926,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1022,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1022,
                    "end_frame": 1160,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1392,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1392,
                    "end_frame": 1755,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684704,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 389,
                    "end_frame": 668,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 668,
                    "end_frame": 985,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 985,
                    "end_frame": 1099,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1099,
                    "end_frame": 1170,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1170,
                    "end_frame": 1521,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1521,
                    "end_frame": 1841,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1170,
                    "end": 1521,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684713,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 384,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 384,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 627,
                    "end_frame": 847,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 847,
                    "end_frame": 964,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 964,
                    "end_frame": 1039,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1039,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1255,
                    "end_frame": 1777,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684727,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 326,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 326,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 902,
                    "end_frame": 1013,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1013,
                    "end_frame": 1111,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1111,
                    "end_frame": 1503,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1503,
                    "end_frame": 1903,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1111,
                    "end": 1503,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684776,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 592,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 866,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 991,
                    "end_frame": 1080,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1080,
                    "end_frame": 1292,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1292,
                    "end_frame": 1694,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684787,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 353,
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                {
                    "start_frame": 632,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 909,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1032,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1124,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684799,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 762,
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                {
                    "start_frame": 1058,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1181,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1326,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1654,
                    "end_frame": 2004,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1326,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684811,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 640,
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                {
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                {
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                {
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                {
                    "start_frame": 1321,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 684866,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 1178,
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                    "start": 1295,
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            ]
        }
    },
    {
        "episode_id": 684876,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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        }
    },
    {
        "episode_id": 684900,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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    },
    {
        "episode_id": 684913,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 0,
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    },
    {
        "episode_id": 684942,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 684997,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "skill": "Pick"
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                {
                    "start_frame": 731,
                    "end_frame": 1025,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1129,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1236,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1236,
                    "end_frame": 1459,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1459,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685014,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 329,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 574,
                    "end_frame": 838,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 838,
                    "end_frame": 936,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1033,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1398,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1398,
                    "end_frame": 1859,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1033,
                    "end": 1398,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 685036,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 337,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 337,
                    "end_frame": 636,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 636,
                    "end_frame": 947,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1035,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1035,
                    "end_frame": 1136,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1136,
                    "end_frame": 1340,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1340,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685054,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 408,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 408,
                    "end_frame": 681,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 681,
                    "end_frame": 943,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 943,
                    "end_frame": 1047,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1047,
                    "end_frame": 1154,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1154,
                    "end_frame": 1327,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1327,
                    "end_frame": 1818,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685062,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 390,
                    "end_frame": 670,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 670,
                    "end_frame": 920,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 920,
                    "end_frame": 1036,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1036,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1125,
                    "end_frame": 1378,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1378,
                    "end_frame": 1869,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685074,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 415,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 415,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 778,
                    "end_frame": 1082,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1082,
                    "end_frame": 1197,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1197,
                    "end_frame": 1324,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1324,
                    "end_frame": 1560,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1560,
                    "end_frame": 2103,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685089,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 427,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 427,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 778,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1049,
                    "end_frame": 1144,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1144,
                    "end_frame": 1255,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1255,
                    "end_frame": 1451,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1451,
                    "end_frame": 2157,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685102,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 418,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 418,
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                {
                    "start_frame": 744,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1022,
                    "end_frame": 1115,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1115,
                    "end_frame": 1214,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1214,
                    "end_frame": 1389,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1389,
                    "end_frame": 1899,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685125,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 428,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 739,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1014,
                    "end_frame": 1132,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1132,
                    "end_frame": 1263,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1263,
                    "end_frame": 1716,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1716,
                    "end_frame": 2109,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685181,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 406,
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                {
                    "start_frame": 711,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 997,
                    "end_frame": 1101,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1101,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1210,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1407,
                    "end_frame": 2017,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685241,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 369,
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                {
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                {
                    "start_frame": 934,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1062,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1194,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685291,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
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                {
                    "start_frame": 440,
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                {
                    "start_frame": 727,
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                {
                    "start_frame": 1148,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1270,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1405,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685311,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
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                {
                    "start_frame": 459,
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                {
                    "start_frame": 722,
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                {
                    "start_frame": 1009,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1126,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1245,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685351,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
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                {
                    "start_frame": 387,
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                {
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                {
                    "start_frame": 997,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1129,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1293,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1514,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685364,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
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                {
                    "start_frame": 420,
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                {
                    "start_frame": 751,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 957,
                    "end_frame": 1087,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1087,
                    "end_frame": 1224,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1224,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1412,
                    "end_frame": 1777,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685384,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 68,
                    "end_frame": 445,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 756,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 756,
                    "end_frame": 1111,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1111,
                    "end_frame": 1224,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1224,
                    "end_frame": 1345,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1345,
                    "end_frame": 1546,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1546,
                    "end_frame": 2136,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685403,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 441,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 441,
                    "end_frame": 761,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 761,
                    "end_frame": 1082,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1185,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1185,
                    "end_frame": 1297,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1297,
                    "end_frame": 1668,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1668,
                    "end_frame": 2404,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1297,
                    "end": 1668,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 685422,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 411,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 411,
                    "end_frame": 743,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 743,
                    "end_frame": 1115,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1115,
                    "end_frame": 1227,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1227,
                    "end_frame": 1392,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1392,
                    "end_frame": 1608,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1608,
                    "end_frame": 2133,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685431,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 418,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 418,
                    "end_frame": 742,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 742,
                    "end_frame": 1033,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1134,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1134,
                    "end_frame": 1265,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1265,
                    "end_frame": 1451,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1451,
                    "end_frame": 1882,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 439,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 439,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 718,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1021,
                    "end_frame": 1151,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1151,
                    "end_frame": 1275,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1275,
                    "end_frame": 1460,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1460,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685497,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 351,
                    "end_frame": 675,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 675,
                    "end_frame": 961,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 961,
                    "end_frame": 1063,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1063,
                    "end_frame": 1193,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1193,
                    "end_frame": 1448,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1448,
                    "end_frame": 1963,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685605,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 471,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 471,
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                {
                    "start_frame": 810,
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                {
                    "start_frame": 1163,
                    "end_frame": 1293,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1293,
                    "end_frame": 1402,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1402,
                    "end_frame": 1777,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1777,
                    "end_frame": 2323,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685684,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 427,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 987,
                    "end_frame": 1102,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1102,
                    "end_frame": 1219,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1219,
                    "end_frame": 1366,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1366,
                    "end_frame": 1918,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685697,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 83,
                    "end_frame": 401,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 401,
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                {
                    "start_frame": 691,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 915,
                    "end_frame": 1029,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1029,
                    "end_frame": 1128,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1128,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1305,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685714,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 440,
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                {
                    "start_frame": 698,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 944,
                    "end_frame": 1086,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1086,
                    "end_frame": 1200,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1200,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1324,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685729,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 380,
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                {
                    "start_frame": 640,
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                {
                    "start_frame": 889,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1001,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1274,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
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                {
                    "start_frame": 381,
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                {
                    "start_frame": 672,
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                {
                    "start_frame": 977,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1116,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1201,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685765,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 346,
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                {
                    "start_frame": 637,
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                {
                    "start_frame": 879,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1020,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1111,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1492,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685783,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
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                {
                    "start_frame": 348,
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                {
                    "start_frame": 663,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 984,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1098,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1191,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1546,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685797,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 345,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 670,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 953,
                    "end_frame": 1044,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1142,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1495,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1495,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685818,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 383,
                    "end_frame": 667,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 667,
                    "end_frame": 962,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1061,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1061,
                    "end_frame": 1167,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1167,
                    "end_frame": 1541,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1541,
                    "end_frame": 2117,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685835,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 377,
                    "end_frame": 658,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 658,
                    "end_frame": 949,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1057,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1057,
                    "end_frame": 1133,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1133,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1302,
                    "end_frame": 1752,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685844,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 374,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 630,
                    "end_frame": 888,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1006,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1006,
                    "end_frame": 1104,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1104,
                    "end_frame": 1497,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1497,
                    "end_frame": 1869,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685857,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 378,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 378,
                    "end_frame": 672,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 672,
                    "end_frame": 1001,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1001,
                    "end_frame": 1108,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1108,
                    "end_frame": 1217,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1217,
                    "end_frame": 1584,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1584,
                    "end_frame": 2296,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685866,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 359,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 635,
                    "end_frame": 898,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 898,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1092,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1092,
                    "end_frame": 1280,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1280,
                    "end_frame": 1790,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685896,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 410,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 410,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 672,
                    "end_frame": 919,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 919,
                    "end_frame": 1056,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1056,
                    "end_frame": 1205,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1205,
                    "end_frame": 1540,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1540,
                    "end_frame": 2102,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685922,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 62,
                    "end_frame": 392,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 392,
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                {
                    "start_frame": 653,
                    "end_frame": 909,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 909,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1012,
                    "end_frame": 1091,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1091,
                    "end_frame": 1336,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1336,
                    "end_frame": 1773,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686064,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 349,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 648,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 867,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 973,
                    "end_frame": 1056,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1056,
                    "end_frame": 1213,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1213,
                    "end_frame": 1682,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686076,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 367,
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                {
                    "start_frame": 642,
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                {
                    "start_frame": 927,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1019,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1090,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1440,
                    "end_frame": 1931,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686174,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 354,
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                {
                    "start_frame": 647,
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                {
                    "start_frame": 949,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1051,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1158,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1487,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686193,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
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                {
                    "start_frame": 359,
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                {
                    "start_frame": 635,
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                {
                    "start_frame": 941,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1061,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686223,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                {
                    "start_frame": 405,
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                {
                    "start_frame": 656,
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                {
                    "start_frame": 891,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 994,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1096,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686239,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                {
                    "start_frame": 545,
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                {
                    "start_frame": 831,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686255,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                    "start_frame": 334,
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                    "start_frame": 609,
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                {
                    "start_frame": 843,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 944,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1032,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1174,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686267,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 350,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 844,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 844,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1077,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1256,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1787,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686283,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 79,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 376,
                    "end_frame": 621,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 621,
                    "end_frame": 871,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 871,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 971,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1066,
                    "end_frame": 1368,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1368,
                    "end_frame": 1966,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686291,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 353,
                    "end_frame": 582,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 582,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 853,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 958,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1054,
                    "end_frame": 1220,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1220,
                    "end_frame": 1786,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689491,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 368,
                    "end_frame": 607,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 607,
                    "end_frame": 861,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 861,
                    "end_frame": 969,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 969,
                    "end_frame": 1086,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1086,
                    "end_frame": 1460,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1460,
                    "end_frame": 1904,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689493,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 409,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 409,
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                {
                    "start_frame": 758,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1046,
                    "end_frame": 1176,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1176,
                    "end_frame": 1289,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1289,
                    "end_frame": 1691,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1691,
                    "end_frame": 2153,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 697802,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 536,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 907,
                    "end_frame": 1059,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1059,
                    "end_frame": 1217,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1217,
                    "end_frame": 1410,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1410,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699108,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 505,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 825,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 934,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1033,
                    "end_frame": 1251,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1251,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699161,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 480,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 729,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 824,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 933,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699188,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 294,
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                {
                    "start_frame": 523,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 792,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 898,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1020,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1206,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699200,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 316,
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                {
                    "start_frame": 552,
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                {
                    "start_frame": 829,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 935,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1048,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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                {
                    "start": 1048,
                    "end": 1416,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699211,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 874,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 974,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1076,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699230,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 918,
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                {
                    "start_frame": 1042,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1042,
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                }
            ]
        }
    },
    {
        "episode_id": 699238,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1033,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699249,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1129,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1344,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699272,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 518,
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                {
                    "start_frame": 808,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 955,
                    "end_frame": 1080,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1080,
                    "end_frame": 1331,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1331,
                    "end_frame": 1722,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699284,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
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                {
                    "start_frame": 491,
                    "end_frame": 780,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 780,
                    "end_frame": 878,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 878,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699297,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
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                {
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                    "end_frame": 900,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 900,
                    "end_frame": 1020,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1020,
                    "end_frame": 1123,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "end_frame": 1708,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "end_frame": 2163,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 1123,
                    "end": 1708,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 699312,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
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                    "end_frame": 1058,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "end_frame": 1223,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699327,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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        }
    },
    {
        "episode_id": 699361,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 699371,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 699379,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 699413,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 672294,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 672346,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    {
        "episode_id": 677720,
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        "task_name": "Hang clothes with hanger",
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    {
        "episode_id": 677795,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 677832,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    {
        "episode_id": 677846,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 677935,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 470,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 813,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 813,
                    "end_frame": 1116,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1385,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1541,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1541,
                    "end_frame": 1718,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1718,
                    "end_frame": 2008,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677951,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [],
            "key_frame": []
        }
    },
    {
        "episode_id": 677975,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 344,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 344,
                    "end_frame": 625,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 625,
                    "end_frame": 929,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1058,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1058,
                    "end_frame": 1193,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1193,
                    "end_frame": 1504,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1504,
                    "end_frame": 1845,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678030,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [],
            "key_frame": []
        }
    },
    {
        "episode_id": 678055,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 443,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 443,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 702,
                    "end_frame": 971,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1144,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1144,
                    "end_frame": 1235,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1235,
                    "end_frame": 1515,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1515,
                    "end_frame": 1955,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678142,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 774,
                    "end_frame": 984,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 984,
                    "end_frame": 1277,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1277,
                    "end_frame": 1309,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1309,
                    "end_frame": 1496,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1496,
                    "end_frame": 1906,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678169,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1194,
                    "end_frame": 1439,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1439,
                    "end_frame": 1628,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1628,
                    "end_frame": 1917,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1917,
                    "end_frame": 2367,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682378,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 216,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 216,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 368,
                    "end_frame": 499,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 499,
                    "end_frame": 550,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 550,
                    "end_frame": 630,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 630,
                    "end_frame": 705,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 705,
                    "end_frame": 1062,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 705,
                    "end": 1062,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682591,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 205,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 205,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 354,
                    "end_frame": 456,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 456,
                    "end_frame": 722,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 722,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 807,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 893,
                    "end_frame": 1128,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682606,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 308,
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                {
                    "start_frame": 529,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 678,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 789,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 875,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 976,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 976,
                    "end": 1292,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682686,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
                    "start_frame": 693,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 800,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682712,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 535,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682729,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682768,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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    },
    {
        "episode_id": 682790,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 682915,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 230,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 230,
                    "end_frame": 424,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 576,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 576,
                    "end_frame": 670,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 670,
                    "end_frame": 761,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 761,
                    "end_frame": 867,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 867,
                    "end_frame": 1537,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 867,
                    "end": 1537,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 682941,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 211,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 211,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 600,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 921,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1003,
                    "end_frame": 1124,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1124,
                    "end_frame": 2158,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 211,
                    "end": 600,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683138,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 228,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 228,
                    "end_frame": 423,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 423,
                    "end_frame": 592,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 592,
                    "end_frame": 689,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 689,
                    "end_frame": 760,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 760,
                    "end_frame": 836,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 836,
                    "end_frame": 1333,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 836,
                    "end": 1333,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683442,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 220,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 506,
                    "end_frame": 711,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
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                {
                    "start_frame": 711,
                    "end_frame": 837,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 837,
                    "end_frame": 917,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 917,
                    "end_frame": 994,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 994,
                    "end_frame": 1313,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683605,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 305,
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                {
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                    "end_frame": 912,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 912,
                    "end_frame": 1047,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1047,
                    "end_frame": 1156,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1156,
                    "end_frame": 1288,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1288,
                    "end_frame": 1421,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 305,
                    "end": 753,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683624,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 278,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 457,
                    "end_frame": 629,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 629,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 757,
                    "end_frame": 916,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 916,
                    "end_frame": 1023,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1023,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683639,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 220,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 498,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 685,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 795,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 918,
                    "end_frame": 1122,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1122,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683652,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 753,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 836,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 932,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686656,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 957,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 686671,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1064,
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                    "description": ""
                }
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        }
    },
    {
        "episode_id": 686722,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 686734,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
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                {
                    "start_frame": 0,
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                {
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        }
    },
    {
        "episode_id": 686788,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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        }
    },
    {
        "episode_id": 686852,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                {
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            ]
        }
    },
    {
        "episode_id": 697963,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
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                {
                    "start_frame": 1634,
                    "end_frame": 1920,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1920,
                    "end_frame": 2067,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2067,
                    "end_frame": 2252,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 2252,
                    "end_frame": 2411,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2411,
                    "end_frame": 2735,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 697990,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 529,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 529,
                    "end_frame": 895,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 895,
                    "end_frame": 1363,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1363,
                    "end_frame": 1516,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1516,
                    "end_frame": 1642,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1642,
                    "end_frame": 1800,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1800,
                    "end_frame": 2401,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699110,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 440,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 440,
                    "end_frame": 991,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 991,
                    "end_frame": 1242,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1242,
                    "end_frame": 1435,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1435,
                    "end_frame": 1549,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1549,
                    "end_frame": 2103,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 2103,
                    "end_frame": 2964,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699136,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 541,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 541,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "end_frame": 1262,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1262,
                    "end_frame": 1389,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1389,
                    "end_frame": 1573,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1573,
                    "end_frame": 1950,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1950,
                    "end_frame": 2629,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699151,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 425,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 888,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1171,
                    "end_frame": 1319,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1319,
                    "end_frame": 1404,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1404,
                    "end_frame": 1546,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1546,
                    "end_frame": 2308,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699176,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 561,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 561,
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                {
                    "start_frame": 1056,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1230,
                    "end_frame": 1341,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1341,
                    "end_frame": 1547,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1547,
                    "end_frame": 1728,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1728,
                    "end_frame": 2308,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699198,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 404,
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                {
                    "start_frame": 788,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1016,
                    "end_frame": 1142,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1142,
                    "end_frame": 1277,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1277,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1394,
                    "end_frame": 2129,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699226,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 98,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 390,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1090,
                    "end_frame": 1287,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1287,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1440,
                    "end_frame": 1848,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1848,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699245,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 536,
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1163,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1296,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699285,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1511,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699322,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 699437,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 120,
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 699593,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 1563,
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                {
                    "start_frame": 1954,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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    },
    {
        "episode_id": 699661,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699675,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 169,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
                    "start_frame": 1972,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699695,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 103,
                    "end_frame": 439,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 439,
                    "end_frame": 932,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1292,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1515,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1515,
                    "end_frame": 1621,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1621,
                    "end_frame": 1832,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1832,
                    "end_frame": 2387,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699713,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 75,
                    "end_frame": 523,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 523,
                    "end_frame": 1028,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1456,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1456,
                    "end_frame": 1672,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1672,
                    "end_frame": 1792,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1792,
                    "end_frame": 2016,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 2016,
                    "end_frame": 2826,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699730,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 79,
                    "end_frame": 606,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 606,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1018,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1369,
                    "end_frame": 1568,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1568,
                    "end_frame": 1704,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1704,
                    "end_frame": 1873,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1873,
                    "end_frame": 2244,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699758,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 144,
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                {
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                {
                    "start_frame": 1072,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1466,
                    "end_frame": 1624,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1624,
                    "end_frame": 1712,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1712,
                    "end_frame": 1976,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1976,
                    "end_frame": 2525,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699776,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 91,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1167,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1342,
                    "end_frame": 1474,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1474,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1713,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699793,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 1182,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1384,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1532,
                    "end_frame": 1724,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1724,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699904,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
                    "start_frame": 1401,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1646,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1749,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1983,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 699937,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 84,
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                {
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                {
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                {
                    "start_frame": 1077,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1201,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1304,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 699989,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                {
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                {
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            ],
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        }
    },
    {
        "episode_id": 700027,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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            "key_frame": [
                {
                    "start": 1752,
                    "end": 2317,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700043,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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        }
    },
    {
        "episode_id": 700083,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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    },
    {
        "episode_id": 700108,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 700133,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 700164,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 96,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 420,
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                {
                    "start_frame": 866,
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                {
                    "start_frame": 1145,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1370,
                    "end_frame": 1506,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1506,
                    "end_frame": 1721,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1721,
                    "end_frame": 2441,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700180,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 83,
                    "end_frame": 581,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 581,
                    "end_frame": 1025,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1392,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1392,
                    "end_frame": 1594,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1594,
                    "end_frame": 1708,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1708,
                    "end_frame": 1931,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1931,
                    "end_frame": 2439,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700215,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 178,
                    "end_frame": 531,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 531,
                    "end_frame": 840,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 840,
                    "end_frame": 1125,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1427,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1427,
                    "end_frame": 1546,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1546,
                    "end_frame": 1695,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1695,
                    "end_frame": 2291,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700225,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 201,
                    "end_frame": 613,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 613,
                    "end_frame": 1105,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1105,
                    "end_frame": 1489,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1489,
                    "end_frame": 1886,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1886,
                    "end_frame": 2012,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 2012,
                    "end_frame": 2264,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 2264,
                    "end_frame": 2787,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700275,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 109,
                    "end_frame": 571,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 571,
                    "end_frame": 1006,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
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                {
                    "start_frame": 1006,
                    "end_frame": 1387,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1387,
                    "end_frame": 1648,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1648,
                    "end_frame": 1787,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1787,
                    "end_frame": 2000,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 2000,
                    "end_frame": 2673,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 2000,
                    "end": 2673,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700310,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 198,
                    "end_frame": 832,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 832,
                    "end_frame": 1249,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 1249,
                    "end_frame": 1595,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1595,
                    "end_frame": 1766,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1766,
                    "end_frame": 1913,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1913,
                    "end_frame": 2102,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 2102,
                    "end_frame": 2616,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700328,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 127,
                    "end_frame": 715,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 715,
                    "end_frame": 1012,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
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                {
                    "start_frame": 1012,
                    "end_frame": 1306,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1306,
                    "end_frame": 1511,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1511,
                    "end_frame": 1687,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1687,
                    "end_frame": 1919,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1919,
                    "end_frame": 2631,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700338,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 160,
                    "end_frame": 551,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 551,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 924,
                    "end_frame": 1343,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1343,
                    "end_frame": 1518,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1518,
                    "end_frame": 1699,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1699,
                    "end_frame": 1944,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1944,
                    "end_frame": 2687,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700374,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 216,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 661,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1022,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1425,
                    "end_frame": 1766,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1766,
                    "end_frame": 2150,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 2150,
                    "end_frame": 2459,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 2459,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700397,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 107,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 442,
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                {
                    "start_frame": 856,
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                {
                    "start_frame": 1125,
                    "end_frame": 1470,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1470,
                    "end_frame": 1625,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1625,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1831,
                    "end_frame": 2333,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 442,
                    "end": 856,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700413,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 71,
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                {
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                {
                    "start_frame": 1153,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1657,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1808,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1978,
                    "end_frame": 2471,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 459,
                    "end": 892,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700465,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 104,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700477,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 143,
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                {
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700496,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700515,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 77,
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                {
                    "start_frame": 497,
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                {
                    "start_frame": 831,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1396,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1608,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700555,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 122,
                    "end_frame": 567,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 848,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 848,
                    "end_frame": 1079,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1398,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1398,
                    "end_frame": 1543,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1543,
                    "end_frame": 1714,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1714,
                    "end_frame": 2087,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 567,
                    "end": 848,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700584,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 171,
                    "end_frame": 633,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 633,
                    "end_frame": 965,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1266,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1499,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1499,
                    "end_frame": 1651,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1651,
                    "end_frame": 1922,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1922,
                    "end_frame": 2582,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700647,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 103,
                    "end_frame": 448,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 448,
                    "end_frame": 700,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 700,
                    "end_frame": 1025,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1365,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1365,
                    "end_frame": 1508,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1928,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1928,
                    "end_frame": 2410,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700673,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 94,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 374,
                    "end_frame": 777,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 777,
                    "end_frame": 1129,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1438,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1438,
                    "end_frame": 1599,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1599,
                    "end_frame": 1785,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1785,
                    "end_frame": 2494,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700689,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 130,
                    "end_frame": 527,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 527,
                    "end_frame": 829,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 1120,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1120,
                    "end_frame": 1275,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1275,
                    "end_frame": 1431,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1431,
                    "end_frame": 1637,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1637,
                    "end_frame": 2265,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700753,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 69,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 397,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 640,
                    "end_frame": 915,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 915,
                    "end_frame": 1095,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1095,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1256,
                    "end_frame": 1460,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1460,
                    "end_frame": 2224,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700787,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 97,
                    "end_frame": 426,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 426,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 744,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 979,
                    "end_frame": 1208,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1208,
                    "end_frame": 1361,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1361,
                    "end_frame": 1554,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1554,
                    "end_frame": 2065,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700852,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 156,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 645,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1058,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1298,
                    "end_frame": 1451,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1451,
                    "end_frame": 1570,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1570,
                    "end_frame": 1876,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1876,
                    "end_frame": 2492,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700870,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 388,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 721,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1084,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1384,
                    "end_frame": 1576,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1576,
                    "end_frame": 1707,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1707,
                    "end_frame": 1928,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1928,
                    "end_frame": 2250,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700898,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 69,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 425,
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                {
                    "start_frame": 691,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 883,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1094,
                    "end_frame": 1246,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1246,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1492,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700923,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 81,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 442,
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                {
                    "start_frame": 809,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 989,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1195,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1331,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1642,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700948,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 470,
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                {
                    "start_frame": 763,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 981,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1154,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1308,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1557,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700974,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 679,
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                {
                    "start_frame": 1017,
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                {
                    "start_frame": 1228,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1455,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1595,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1739,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701048,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 87,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 515,
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                {
                    "start_frame": 848,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1077,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1237,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1347,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701060,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 66,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 444,
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                {
                    "start_frame": 729,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 936,
                    "end_frame": 1116,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1116,
                    "end_frame": 1233,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1233,
                    "end_frame": 1433,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1433,
                    "end_frame": 1950,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701073,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 428,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 671,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 671,
                    "end_frame": 872,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 872,
                    "end_frame": 1113,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1273,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1273,
                    "end_frame": 1474,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1877,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701148,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 104,
                    "end_frame": 598,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 598,
                    "end_frame": 894,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1115,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1115,
                    "end_frame": 1265,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1409,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1409,
                    "end_frame": 1824,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1824,
                    "end_frame": 2248,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701171,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 82,
                    "end_frame": 517,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 517,
                    "end_frame": 845,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1106,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1106,
                    "end_frame": 1364,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1364,
                    "end_frame": 1511,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1511,
                    "end_frame": 1859,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1859,
                    "end_frame": 2331,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701190,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 194,
                    "end_frame": 592,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 592,
                    "end_frame": 925,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1182,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1182,
                    "end_frame": 1353,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1353,
                    "end_frame": 1497,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1497,
                    "end_frame": 1677,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1677,
                    "end_frame": 2193,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701333,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 89,
                    "end_frame": 479,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 479,
                    "end_frame": 781,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 781,
                    "end_frame": 1094,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1250,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1250,
                    "end_frame": 1389,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1389,
                    "end_frame": 1552,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1552,
                    "end_frame": 1826,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701368,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 96,
                    "end_frame": 501,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 501,
                    "end_frame": 785,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 785,
                    "end_frame": 1044,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1252,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1384,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1384,
                    "end_frame": 1594,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1594,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701383,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 374,
                    "end_frame": 675,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 675,
                    "end_frame": 870,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 870,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1166,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1387,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1387,
                    "end_frame": 1807,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701421,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 76,
                    "end_frame": 448,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 448,
                    "end_frame": 815,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 815,
                    "end_frame": 1072,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1269,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1386,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1615,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1615,
                    "end_frame": 1995,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701440,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 105,
                    "end_frame": 472,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 472,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 808,
                    "end_frame": 1070,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1235,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1235,
                    "end_frame": 1355,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1355,
                    "end_frame": 1664,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1664,
                    "end_frame": 2166,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701460,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 159,
                    "end_frame": 506,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 506,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 1123,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1123,
                    "end_frame": 1275,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1275,
                    "end_frame": 1396,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1396,
                    "end_frame": 1610,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1610,
                    "end_frame": 2085,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701479,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 100,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 434,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 782,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1016,
                    "end_frame": 1170,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1170,
                    "end_frame": 1303,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1303,
                    "end_frame": 1519,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1519,
                    "end_frame": 1972,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701494,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 84,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 385,
                    "end_frame": 700,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 700,
                    "end_frame": 1029,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1029,
                    "end_frame": 1206,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1206,
                    "end_frame": 1317,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1317,
                    "end_frame": 1449,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1449,
                    "end_frame": 1788,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 66,
                    "end_frame": 413,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 413,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 681,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 982,
                    "end_frame": 1155,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1155,
                    "end_frame": 1276,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1276,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1452,
                    "end_frame": 1761,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701518,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 83,
                    "end_frame": 391,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 391,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 736,
                    "end_frame": 989,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 989,
                    "end_frame": 1207,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1207,
                    "end_frame": 1341,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1341,
                    "end_frame": 1544,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1544,
                    "end_frame": 1910,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701533,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 70,
                    "end_frame": 408,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 408,
                    "end_frame": 704,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 704,
                    "end_frame": 919,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1066,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1169,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1169,
                    "end_frame": 1291,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1291,
                    "end_frame": 1639,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701548,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 78,
                    "end_frame": 448,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 448,
                    "end_frame": 810,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 810,
                    "end_frame": 1149,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1412,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1412,
                    "end_frame": 1519,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1519,
                    "end_frame": 1844,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1844,
                    "end_frame": 2463,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701568,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 336,
                    "end_frame": 642,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 642,
                    "end_frame": 888,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1050,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1050,
                    "end_frame": 1173,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1173,
                    "end_frame": 1335,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1335,
                    "end_frame": 1667,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701582,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 132,
                    "end_frame": 461,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 461,
                    "end_frame": 827,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 827,
                    "end_frame": 1069,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1307,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1307,
                    "end_frame": 1444,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1444,
                    "end_frame": 1607,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1607,
                    "end_frame": 2068,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701604,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 83,
                    "end_frame": 451,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 451,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 886,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1164,
                    "end_frame": 1372,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1372,
                    "end_frame": 1525,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1525,
                    "end_frame": 1764,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1764,
                    "end_frame": 2373,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701620,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 76,
                    "end_frame": 478,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 478,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 828,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1118,
                    "end_frame": 1267,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1267,
                    "end_frame": 1411,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1411,
                    "end_frame": 1756,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1756,
                    "end_frame": 2364,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701632,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 446,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 446,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 713,
                    "end_frame": 924,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 924,
                    "end_frame": 1140,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1140,
                    "end_frame": 1295,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1295,
                    "end_frame": 1520,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1520,
                    "end_frame": 1965,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701643,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 93,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 686,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 1091,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1339,
                    "end_frame": 1574,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1574,
                    "end_frame": 1739,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1739,
                    "end_frame": 2089,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 2089,
                    "end_frame": 2598,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701652,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 450,
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                {
                    "start_frame": 810,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1062,
                    "end_frame": 1334,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1334,
                    "end_frame": 1480,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1480,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1737,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698206,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 306,
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                {
                    "start_frame": 697,
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                {
                    "start_frame": 940,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1075,
                    "end_frame": 1231,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1231,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1378,
                    "end_frame": 1840,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1378,
                    "end": 1840,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698774,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 242,
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                {
                    "start_frame": 505,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 617,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 738,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 832,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1116,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702134,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 240,
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                {
                    "start_frame": 403,
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                {
                    "start_frame": 849,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1014,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1097,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1289,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702151,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 254,
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                {
                    "start_frame": 460,
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                {
                    "start_frame": 639,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 805,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702182,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 448,
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                {
                    "start_frame": 597,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 854,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1011,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1117,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702216,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
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                {
                    "start_frame": 462,
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                {
                    "start_frame": 594,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 734,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 868,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1013,
                    "end_frame": 1341,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702268,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 279,
                    "end_frame": 455,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 455,
                    "end_frame": 654,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 654,
                    "end_frame": 813,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 813,
                    "end_frame": 934,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1082,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1405,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702288,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 325,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 496,
                    "end_frame": 693,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 693,
                    "end_frame": 793,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 793,
                    "end_frame": 940,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 940,
                    "end_frame": 1162,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1162,
                    "end_frame": 1619,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1162,
                    "end": 1619,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702316,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 266,
                    "end_frame": 663,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
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                {
                    "start_frame": 663,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 914,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 914,
                    "end_frame": 1100,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1100,
                    "end_frame": 1276,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1276,
                    "end_frame": 1609,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 266,
                    "end": 663,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702385,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 255,
                    "end_frame": 429,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 429,
                    "end_frame": 542,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 542,
                    "end_frame": 729,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 729,
                    "end_frame": 887,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 887,
                    "end_frame": 987,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 987,
                    "end_frame": 1332,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702419,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 235,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 607,
                    "end_frame": 765,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 765,
                    "end_frame": 872,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 872,
                    "end_frame": 1061,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1061,
                    "end_frame": 1631,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702432,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 258,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 428,
                    "end_frame": 583,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 583,
                    "end_frame": 676,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 676,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 772,
                    "end_frame": 939,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 939,
                    "end_frame": 1389,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702452,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
                    "start_frame": 757,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 1246,
                    "end": 1892,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1220,
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                {
                    "start_frame": 1361,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1522,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 702493,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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    },
    {
        "episode_id": 702598,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                {
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        }
    },
    {
        "episode_id": 702612,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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        }
    },
    {
        "episode_id": 702635,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                {
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    },
    {
        "episode_id": 702645,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 702677,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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        }
    },
    {
        "episode_id": 702688,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 504,
                    "end_frame": 712,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 712,
                    "end_frame": 846,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 846,
                    "end_frame": 969,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1248,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1248,
                    "end_frame": 1760,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702708,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 231,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 569,
                    "end_frame": 719,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 719,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 901,
                    "end_frame": 1496,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1496,
                    "end_frame": 1798,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1798,
                    "end_frame": 2017,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702731,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 254,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 497,
                    "end_frame": 655,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
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                {
                    "start_frame": 655,
                    "end_frame": 812,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 812,
                    "end_frame": 876,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 876,
                    "end_frame": 1128,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1128,
                    "end_frame": 1643,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1128,
                    "end": 1643,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702742,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 237,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 237,
                    "end_frame": 397,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 397,
                    "end_frame": 629,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 629,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 821,
                    "end_frame": 901,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 901,
                    "end_frame": 1117,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1117,
                    "end_frame": 1408,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702760,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 313,
                    "end_frame": 782,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 782,
                    "end_frame": 992,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 992,
                    "end_frame": 1175,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1175,
                    "end_frame": 1286,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1286,
                    "end_frame": 1501,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1501,
                    "end_frame": 1713,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 313,
                    "end": 782,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702790,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 262,
                    "end_frame": 489,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 489,
                    "end_frame": 706,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 706,
                    "end_frame": 824,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 824,
                    "end_frame": 1016,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1016,
                    "end_frame": 1196,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1196,
                    "end_frame": 1741,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1196,
                    "end": 1741,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702927,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 295,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 480,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 710,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 871,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1038,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1486,
                    "end_frame": 2349,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1038,
                    "end": 1486,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702944,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
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                },
                {
                    "start": 1288,
                    "end": 1816,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703001,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 493,
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                {
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                {
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                {
                    "start_frame": 1255,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 703033,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
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                }
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        }
    },
    {
        "episode_id": 703049,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "start": 1178,
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                }
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    },
    {
        "episode_id": 703077,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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    },
    {
        "episode_id": 703099,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 703118,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 703174,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
                    "start_frame": 656,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 942,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1097,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1420,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703191,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 271,
                    "end_frame": 517,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 517,
                    "end_frame": 657,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 657,
                    "end_frame": 790,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 790,
                    "end_frame": 914,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 914,
                    "end_frame": 1160,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1160,
                    "end_frame": 1757,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1160,
                    "end": 1757,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703228,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 221,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 221,
                    "end_frame": 370,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 370,
                    "end_frame": 575,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 575,
                    "end_frame": 715,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 715,
                    "end_frame": 861,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 861,
                    "end_frame": 1030,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1030,
                    "end_frame": 1551,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703245,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 248,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 640,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 863,
                    "end_frame": 1018,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1018,
                    "end_frame": 1149,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1149,
                    "end_frame": 1293,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1293,
                    "end_frame": 1889,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 248,
                    "end": 640,
                    "description": ""
                },
                {
                    "start": 1293,
                    "end": 1889,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703263,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 273,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 428,
                    "end_frame": 617,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 617,
                    "end_frame": 912,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 912,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1064,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1262,
                    "end_frame": 1692,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703316,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 264,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 547,
                    "end_frame": 811,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 811,
                    "end_frame": 894,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 894,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1053,
                    "end_frame": 1306,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1306,
                    "end_frame": 1624,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703333,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 458,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 458,
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                {
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                {
                    "start_frame": 988,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1350,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1508,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1681,
                    "end_frame": 2010,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 0,
                    "end": 458,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703350,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 585,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 961,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1144,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1253,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703375,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
                    "start_frame": 608,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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            "key_frame": []
        }
    },
    {
        "episode_id": 703408,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 703518,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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    },
    {
        "episode_id": 703537,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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    },
    {
        "episode_id": 703562,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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        }
    },
    {
        "episode_id": 703605,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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        }
    },
    {
        "episode_id": 703625,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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        }
    },
    {
        "episode_id": 711137,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 355,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 785,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 785,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 954,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1221,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1221,
                    "end_frame": 1660,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711165,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 297,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 527,
                    "end_frame": 702,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 702,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 902,
                    "end_frame": 977,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1226,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1536,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711178,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 326,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 326,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 536,
                    "end_frame": 707,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 707,
                    "end_frame": 839,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 839,
                    "end_frame": 905,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 905,
                    "end_frame": 1194,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1194,
                    "end_frame": 1447,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711199,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 282,
                    "end_frame": 476,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 476,
                    "end_frame": 650,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 650,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 821,
                    "end_frame": 903,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 903,
                    "end_frame": 1166,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1166,
                    "end_frame": 1415,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711212,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 306,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 306,
                    "end_frame": 678,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 678,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 850,
                    "end_frame": 1072,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1072,
                    "end_frame": 1134,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1134,
                    "end_frame": 1310,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1310,
                    "end_frame": 1613,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 306,
                    "end": 678,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 711227,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 434,
                    "end_frame": 628,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 628,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 949,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 949,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1023,
                    "end_frame": 1331,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1331,
                    "end_frame": 1538,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711242,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 438,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 438,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 698,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1038,
                    "end_frame": 1181,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1181,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1252,
                    "end_frame": 1470,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1470,
                    "end_frame": 1736,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 698,
                    "end": 1038,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 711270,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 349,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 568,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 848,
                    "end_frame": 999,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 999,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1067,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1309,
                    "end_frame": 1553,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711283,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 340,
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                {
                    "start_frame": 604,
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                {
                    "start_frame": 886,
                    "end_frame": 1024,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1024,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1126,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1314,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711293,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 93,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 396,
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                {
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                {
                    "start_frame": 754,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 890,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 711300,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 35,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 748,
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 711374,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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            ],
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        }
    },
    {
        "episode_id": 711394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 711436,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
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                {
                    "start_frame": 616,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 875,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711507,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 524,
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                {
                    "start_frame": 662,
                    "end_frame": 768,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 768,
                    "end_frame": 882,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1015,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1270,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711626,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 458,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 458,
                    "end_frame": 626,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 626,
                    "end_frame": 739,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 739,
                    "end_frame": 821,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 821,
                    "end_frame": 1075,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1075,
                    "end_frame": 1528,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711658,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 302,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 302,
                    "end_frame": 505,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 505,
                    "end_frame": 763,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 763,
                    "end_frame": 875,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 875,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 972,
                    "end_frame": 1108,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1108,
                    "end_frame": 1315,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711688,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 357,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 569,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 737,
                    "end_frame": 863,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 863,
                    "end_frame": 957,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 957,
                    "end_frame": 1151,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1151,
                    "end_frame": 1433,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711709,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 305,
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                {
                    "start_frame": 708,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 859,
                    "end_frame": 984,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 984,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1066,
                    "end_frame": 1242,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1242,
                    "end_frame": 1477,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 305,
                    "end": 708,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 711721,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 296,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 529,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 665,
                    "end_frame": 795,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 795,
                    "end_frame": 887,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 887,
                    "end_frame": 978,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 978,
                    "end_frame": 1211,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711802,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 298,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 506,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 726,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 840,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 940,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1184,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711820,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 55,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 284,
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                {
                    "start_frame": 519,
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                {
                    "start_frame": 777,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 923,
                    "end_frame": 1013,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1013,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1153,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 711834,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 274,
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                {
                    "start_frame": 637,
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                {
                    "start_frame": 831,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1050,
                    "end_frame": 1143,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1143,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 274,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 711982,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 37,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 248,
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                {
                    "start_frame": 420,
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                {
                    "start_frame": 534,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 624,
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 712008,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 51,
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                {
                    "start_frame": 815,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
                    "start": 522,
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                }
            ]
        }
    },
    {
        "episode_id": 712036,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 41,
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                {
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        }
    },
    {
        "episode_id": 712078,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 712114,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 49,
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                {
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                {
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                {
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    },
    {
        "episode_id": 712152,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "start_frame": 898,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712236,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 67,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 316,
                    "end_frame": 529,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 529,
                    "end_frame": 659,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 659,
                    "end_frame": 792,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 792,
                    "end_frame": 896,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 896,
                    "end_frame": 1059,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1361,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712286,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 277,
                    "end_frame": 474,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 474,
                    "end_frame": 698,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 698,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 821,
                    "end_frame": 910,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 910,
                    "end_frame": 1191,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1191,
                    "end_frame": 1696,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 299,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 471,
                    "end_frame": 614,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 614,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 734,
                    "end_frame": 815,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 815,
                    "end_frame": 1034,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1034,
                    "end_frame": 1387,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712393,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 296,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 493,
                    "end_frame": 640,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 640,
                    "end_frame": 760,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 760,
                    "end_frame": 862,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 862,
                    "end_frame": 1033,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1033,
                    "end_frame": 1404,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712521,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 276,
                    "end_frame": 499,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 499,
                    "end_frame": 647,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 647,
                    "end_frame": 755,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 755,
                    "end_frame": 850,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 850,
                    "end_frame": 957,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 957,
                    "end_frame": 1260,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712562,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 416,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 416,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 687,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 853,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 941,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1036,
                    "end_frame": 1187,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1187,
                    "end_frame": 1468,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712602,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 239,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 239,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 452,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 596,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 748,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 839,
                    "end_frame": 1016,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1016,
                    "end_frame": 1239,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712617,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 247,
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                {
                    "start_frame": 452,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 651,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 752,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 827,
                    "end_frame": 1016,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1016,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712627,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 248,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 434,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 603,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 765,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 832,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1023,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712640,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 229,
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                {
                    "start_frame": 429,
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                {
                    "start_frame": 600,
                    "end_frame": 723,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 723,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 800,
                    "end_frame": 972,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 972,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712650,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 255,
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                {
                    "start_frame": 443,
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                {
                    "start_frame": 624,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 735,
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                {
                    "start_frame": 831,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712659,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
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                {
                    "start_frame": 254,
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                {
                    "start_frame": 444,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 605,
                    "end_frame": 750,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 750,
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                {
                    "start_frame": 839,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712680,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
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                {
                    "start_frame": 513,
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                {
                    "start_frame": 815,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 951,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1041,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1167,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 712693,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 233,
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                {
                    "start_frame": 415,
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                {
                    "start_frame": 587,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 682,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 762,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 920,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 712700,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 296,
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                {
                    "start_frame": 504,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 607,
                    "end_frame": 711,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 711,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 802,
                    "end_frame": 1202,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1202,
                    "end_frame": 1485,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 716113,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 272,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 514,
                    "end_frame": 654,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 654,
                    "end_frame": 805,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 805,
                    "end_frame": 897,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 897,
                    "end_frame": 1091,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1091,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 716129,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 51,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 292,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 620,
                    "end_frame": 742,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 837,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 716137,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 52,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
                    "start_frame": 837,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 716157,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 904,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 716223,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
                    "start_frame": 568,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 698,
                    "end_frame": 795,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 795,
                    "end_frame": 1080,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1080,
                    "end_frame": 1329,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 716244,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 53,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 625,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 870,
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 716256,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
                    "start": 999,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 716271,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 37,
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                {
                    "start_frame": 636,
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                {
                    "start_frame": 731,
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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        }
    },
    {
        "episode_id": 716285,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 716299,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 716330,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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        "episode_id": 716390,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    {
        "episode_id": 668454,
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        "task_name": "Hang clothes with hanger",
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        "episode_id": 668553,
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        "task_name": "Hang clothes with hanger",
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    {
        "episode_id": 669111,
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        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                    "start_frame": 353,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 690,
                    "end_frame": 900,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 900,
                    "end_frame": 989,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1097,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1599,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1599,
                    "end_frame": 2471,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669141,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 401,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 401,
                    "end_frame": 672,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 672,
                    "end_frame": 951,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1169,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1169,
                    "end_frame": 1271,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1271,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1593,
                    "end_frame": 2320,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669179,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 406,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 406,
                    "end_frame": 698,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 698,
                    "end_frame": 1092,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1223,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1223,
                    "end_frame": 1313,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1313,
                    "end_frame": 1751,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1751,
                    "end_frame": 2320,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669222,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 311,
                    "end_frame": 676,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 676,
                    "end_frame": 835,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 835,
                    "end_frame": 929,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 929,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1010,
                    "end_frame": 1461,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1461,
                    "end_frame": 1973,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669254,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 377,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 610,
                    "end_frame": 842,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 842,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 918,
                    "end_frame": 997,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 997,
                    "end_frame": 1384,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1384,
                    "end_frame": 1855,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669291,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
                    "end_frame": 452,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 452,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 704,
                    "end_frame": 1024,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1024,
                    "end_frame": 1129,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1129,
                    "end_frame": 1215,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1215,
                    "end_frame": 1919,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1919,
                    "end_frame": 2479,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669318,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 428,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 428,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 660,
                    "end_frame": 928,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 928,
                    "end_frame": 1142,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1142,
                    "end_frame": 1247,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1247,
                    "end_frame": 1761,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1761,
                    "end_frame": 2186,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1247,
                    "end": 1761,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669359,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 304,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 668,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 915,
                    "end_frame": 1011,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1011,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1134,
                    "end_frame": 1821,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1821,
                    "end_frame": 2284,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1134,
                    "end": 1821,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669388,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 392,
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                {
                    "start_frame": 792,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1014,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1175,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1256,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1653,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669411,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 785,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 887,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 949,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1450,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669428,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 860,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1021,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 669447,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ]
        }
    },
    {
        "episode_id": 669464,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 11,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1055,
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                }
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        }
    },
    {
        "episode_id": 669544,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669649,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
                    "start_frame": 801,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1134,
                    "end_frame": 1493,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1493,
                    "end_frame": 2087,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 801,
                    "end": 1043,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669673,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 684,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 684,
                    "end_frame": 1085,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1085,
                    "end_frame": 1381,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1381,
                    "end_frame": 1451,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1451,
                    "end_frame": 1891,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1891,
                    "end_frame": 2447,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669691,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 308,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 308,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 815,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 815,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1532,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1532,
                    "end_frame": 2184,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1003,
                    "end": 1532,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669708,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 309,
                    "end_frame": 766,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
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                {
                    "start_frame": 766,
                    "end_frame": 984,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1141,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1141,
                    "end_frame": 1248,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1248,
                    "end_frame": 1551,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1551,
                    "end_frame": 2108,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 309,
                    "end": 766,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669731,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 331,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 990,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 990,
                    "end_frame": 1062,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1062,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1350,
                    "end_frame": 1903,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669746,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 338,
                    "end_frame": 704,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 704,
                    "end_frame": 931,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 931,
                    "end_frame": 1046,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1046,
                    "end_frame": 1138,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1138,
                    "end_frame": 1866,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1866,
                    "end_frame": 2372,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1138,
                    "end": 1866,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669767,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 383,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 677,
                    "end_frame": 940,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 940,
                    "end_frame": 1087,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1087,
                    "end_frame": 1166,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1166,
                    "end_frame": 1460,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1460,
                    "end_frame": 2030,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669791,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 357,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 691,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1247,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1410,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1496,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1775,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669813,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 302,
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                {
                    "start_frame": 647,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 847,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1008,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1100,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1348,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669819,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 295,
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                {
                    "start_frame": 673,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 892,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1049,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1145,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1145,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669842,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 14,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 316,
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                {
                    "start_frame": 864,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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                {
                    "start": 316,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 42,
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                {
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                {
                    "start_frame": 911,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1234,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669872,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 5,
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1003,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669898,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 15,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 348,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 669924,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 993,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1095,
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                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1508,
                    "end_frame": 2053,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669997,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 3,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 358,
                    "end_frame": 656,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 656,
                    "end_frame": 937,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1069,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1194,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1606,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1606,
                    "end_frame": 2117,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1194,
                    "end": 1606,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670013,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 342,
                    "end_frame": 841,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 841,
                    "end_frame": 1086,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1314,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1314,
                    "end_frame": 1429,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1429,
                    "end_frame": 1656,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1656,
                    "end_frame": 2052,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670028,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 6,
                    "end_frame": 408,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 408,
                    "end_frame": 708,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 708,
                    "end_frame": 931,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 931,
                    "end_frame": 1105,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1213,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1687,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1687,
                    "end_frame": 2047,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1213,
                    "end": 1687,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670040,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 516,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 516,
                    "end_frame": 971,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1231,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1432,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1432,
                    "end_frame": 1509,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1509,
                    "end_frame": 1853,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1853,
                    "end_frame": 2168,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 516,
                    "end": 971,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670066,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 357,
                    "end_frame": 751,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 751,
                    "end_frame": 954,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1112,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1112,
                    "end_frame": 1203,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1203,
                    "end_frame": 1375,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1375,
                    "end_frame": 2080,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670080,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 370,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 669,
                    "end_frame": 1097,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1276,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1276,
                    "end_frame": 1358,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1358,
                    "end_frame": 1904,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1904,
                    "end_frame": 2387,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1358,
                    "end": 1904,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670106,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 461,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 461,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 896,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
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                {
                    "start_frame": 1116,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1328,
                    "end_frame": 1450,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1450,
                    "end_frame": 1879,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1879,
                    "end_frame": 2490,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 461,
                    "end": 896,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670141,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 380,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 689,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 887,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1078,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1163,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1658,
                    "end_frame": 2125,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1163,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670152,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 355,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 616,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 892,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1014,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1095,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1293,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670174,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 594,
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                {
                    "start_frame": 863,
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                {
                    "start_frame": 1182,
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                {
                    "start_frame": 1278,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1564,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 863,
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                }
            ]
        }
    },
    {
        "episode_id": 670196,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
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                {
                    "start_frame": 312,
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": []
        }
    },
    {
        "episode_id": 670278,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 618,
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670339,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                {
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                {
                    "start_frame": 1356,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670359,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 20,
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 920,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1076,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1387,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            "key_frame": [
                {
                    "start": 1387,
                    "end": 2664,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 299,
                    "end_frame": 598,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 866,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 866,
                    "end_frame": 981,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 981,
                    "end_frame": 1122,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1122,
                    "end_frame": 1338,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1338,
                    "end_frame": 2063,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 298,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 544,
                    "end_frame": 841,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 841,
                    "end_frame": 940,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 940,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1054,
                    "end_frame": 1516,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1516,
                    "end_frame": 2233,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1054,
                    "end": 2233,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670419,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 348,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 566,
                    "end_frame": 831,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 831,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 925,
                    "end_frame": 1052,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1052,
                    "end_frame": 1266,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1266,
                    "end_frame": 1793,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670470,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 478,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 478,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 953,
                    "end_frame": 1179,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1179,
                    "end_frame": 1332,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1332,
                    "end_frame": 1477,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1477,
                    "end_frame": 1827,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1827,
                    "end_frame": 2422,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 478,
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                    "description": ""
                },
                {
                    "start": 1477,
                    "end": 1827,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670538,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 434,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 641,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 1008,
                    "end_frame": 1147,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1147,
                    "end_frame": 1286,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1286,
                    "end_frame": 1639,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1639,
                    "end_frame": 2366,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1286,
                    "end": 1639,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670564,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 458,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 458,
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                {
                    "start_frame": 731,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1046,
                    "end_frame": 1180,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1180,
                    "end_frame": 1269,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1269,
                    "end_frame": 1772,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1772,
                    "end_frame": 2240,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1269,
                    "end": 1772,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670585,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 29,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 670621,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 28,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
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                }
            ]
        }
    },
    {
        "episode_id": 670641,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 34,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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    },
    {
        "episode_id": 670670,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 670687,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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    },
    {
        "episode_id": 670705,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    {
        "episode_id": 670731,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 31,
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    },
    {
        "episode_id": 670793,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 30,
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                {
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        }
    },
    {
        "episode_id": 670820,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 313,
                    "end_frame": 501,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 501,
                    "end_frame": 670,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 670,
                    "end_frame": 776,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 776,
                    "end_frame": 855,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 855,
                    "end_frame": 1079,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1079,
                    "end_frame": 2052,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 1079,
                    "end": 2052,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 670863,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 305,
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                {
                    "start_frame": 305,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 532,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 726,
                    "end_frame": 822,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 822,
                    "end_frame": 914,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "end_frame": 1077,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1077,
                    "end_frame": 2031,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 915,
                    "end_frame": 1057,
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                {
                    "start_frame": 1057,
                    "end_frame": 1197,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1197,
                    "end_frame": 1354,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 671096,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 1272,
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        }
    },
    {
        "episode_id": 671124,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 671157,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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    {
        "episode_id": 671180,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 671295,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 672401,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    {
        "episode_id": 673607,
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        "task_name": "Hang clothes with hanger",
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    {
        "episode_id": 673736,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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        "episode_id": 673767,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    {
        "episode_id": 673851,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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        "episode_id": 673979,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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    },
    {
        "episode_id": 678422,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
                    "start_frame": 334,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 522,
                    "end_frame": 846,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 846,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1109,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1109,
                    "end_frame": 1436,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1436,
                    "end_frame": 2262,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699884,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 299,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 528,
                    "end_frame": 700,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 700,
                    "end_frame": 816,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 816,
                    "end_frame": 888,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1466,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1466,
                    "end_frame": 1648,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699895,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 294,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 484,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 875,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 875,
                    "end_frame": 955,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 955,
                    "end_frame": 1229,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1520,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700056,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 338,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 608,
                    "end_frame": 907,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1023,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1023,
                    "end_frame": 1124,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1124,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1566,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700078,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 407,
                    "end_frame": 792,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 792,
                    "end_frame": 1133,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1133,
                    "end_frame": 1261,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1261,
                    "end_frame": 1350,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1350,
                    "end_frame": 1698,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1698,
                    "end_frame": 1912,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700127,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 76,
                    "end_frame": 416,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 416,
                    "end_frame": 754,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 754,
                    "end_frame": 1022,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1126,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1126,
                    "end_frame": 1263,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1263,
                    "end_frame": 1653,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1653,
                    "end_frame": 1915,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700167,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 497,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 497,
                    "end_frame": 863,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 863,
                    "end_frame": 1229,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1398,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1398,
                    "end_frame": 1536,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1536,
                    "end_frame": 1762,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1762,
                    "end_frame": 2232,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700183,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 357,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 619,
                    "end_frame": 842,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 842,
                    "end_frame": 966,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 966,
                    "end_frame": 1139,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1139,
                    "end_frame": 1394,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1394,
                    "end_frame": 1727,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700220,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 363,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 623,
                    "end_frame": 893,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 893,
                    "end_frame": 1113,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1113,
                    "end_frame": 1198,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1198,
                    "end_frame": 1423,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1423,
                    "end_frame": 1754,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700231,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 337,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 337,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 681,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 923,
                    "end_frame": 1065,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1065,
                    "end_frame": 1168,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1168,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1350,
                    "end_frame": 1669,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700242,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 424,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 424,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 743,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 971,
                    "end_frame": 1064,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1064,
                    "end_frame": 1175,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1175,
                    "end_frame": 1420,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1420,
                    "end_frame": 1840,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700264,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 397,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 860,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1123,
                    "end_frame": 1252,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1252,
                    "end_frame": 1381,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1381,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1551,
                    "end_frame": 1944,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 79,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 408,
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                {
                    "start_frame": 695,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 966,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1095,
                    "end_frame": 1220,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1220,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1457,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700301,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 455,
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                {
                    "start_frame": 764,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1023,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1112,
                    "end_frame": 1267,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1267,
                    "end_frame": 1515,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1515,
                    "end_frame": 1866,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700333,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 464,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 464,
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                {
                    "start_frame": 854,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1177,
                    "end_frame": 1293,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1293,
                    "end_frame": 1464,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1464,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1659,
                    "end_frame": 1999,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700369,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 699,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 699,
                    "end_frame": 928,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1066,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1169,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1169,
                    "end_frame": 1431,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1431,
                    "end_frame": 1781,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700388,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 67,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 370,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 600,
                    "end_frame": 820,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 820,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1140,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1370,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1370,
                    "end_frame": 1764,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700448,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 368,
                    "end_frame": 598,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 977,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 977,
                    "end_frame": 1045,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1045,
                    "end_frame": 1176,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1378,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700503,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 358,
                    "end_frame": 611,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 611,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 919,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1022,
                    "end_frame": 1226,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1226,
                    "end_frame": 1677,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700521,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 368,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 635,
                    "end_frame": 1009,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1155,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1155,
                    "end_frame": 1280,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1280,
                    "end_frame": 1472,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1472,
                    "end_frame": 1917,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700554,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
                    "end_frame": 414,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 414,
                    "end_frame": 762,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 762,
                    "end_frame": 1050,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1315,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1315,
                    "end_frame": 1473,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1473,
                    "end_frame": 1695,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1695,
                    "end_frame": 2051,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700615,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 339,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 586,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 827,
                    "end_frame": 1031,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1031,
                    "end_frame": 1180,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1180,
                    "end_frame": 1485,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1485,
                    "end_frame": 1794,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700666,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 495,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 495,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 842,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1124,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1358,
                    "end_frame": 1429,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1429,
                    "end_frame": 1634,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1634,
                    "end_frame": 1942,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700694,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 366,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 641,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 1094,
                    "end_frame": 1323,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1323,
                    "end_frame": 1424,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1424,
                    "end_frame": 1632,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1632,
                    "end_frame": 1948,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700719,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 292,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 517,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 760,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 889,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1008,
                    "end_frame": 1148,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1148,
                    "end_frame": 1527,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700742,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 73,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 386,
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                {
                    "start_frame": 600,
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                {
                    "start_frame": 829,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 946,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1045,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700757,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 380,
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                {
                    "start_frame": 628,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 951,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1090,
                    "end_frame": 1177,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1177,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1335,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700796,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 310,
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                {
                    "start_frame": 539,
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                {
                    "start_frame": 820,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 938,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1047,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1288,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1288,
                    "end": 1839,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700892,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 392,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 392,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 837,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 990,
                    "end_frame": 1296,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1296,
                    "end_frame": 1369,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1369,
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                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1631,
                    "end_frame": 2226,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701076,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 279,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 490,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 737,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1030,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1198,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1593,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701087,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 546,
                    "end_frame": 786,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 786,
                    "end_frame": 976,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 976,
                    "end_frame": 1065,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1235,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1618,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701098,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 288,
                    "end_frame": 534,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 534,
                    "end_frame": 876,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 876,
                    "end_frame": 989,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 989,
                    "end_frame": 1126,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1126,
                    "end_frame": 1311,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1311,
                    "end_frame": 1521,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701154,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 319,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 580,
                    "end_frame": 859,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 859,
                    "end_frame": 977,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1062,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1062,
                    "end_frame": 1339,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1339,
                    "end_frame": 1630,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 278,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 511,
                    "end_frame": 761,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 761,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 901,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1026,
                    "end_frame": 1162,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1162,
                    "end_frame": 1416,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701287,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 253,
                    "end_frame": 503,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 503,
                    "end_frame": 663,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 663,
                    "end_frame": 804,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 804,
                    "end_frame": 897,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 897,
                    "end_frame": 1026,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1026,
                    "end_frame": 1334,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701311,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 36,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 267,
                    "end_frame": 466,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 466,
                    "end_frame": 964,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1071,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1071,
                    "end_frame": 1215,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1215,
                    "end_frame": 1415,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1415,
                    "end_frame": 1668,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701321,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 267,
                    "end_frame": 518,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 518,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 889,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1036,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1283,
                    "end_frame": 1617,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701360,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 310,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 540,
                    "end_frame": 796,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 796,
                    "end_frame": 922,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 922,
                    "end_frame": 1100,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1100,
                    "end_frame": 1236,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1236,
                    "end_frame": 1525,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701428,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 328,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 624,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 936,
                    "end_frame": 1063,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1063,
                    "end_frame": 1197,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1197,
                    "end_frame": 1391,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1391,
                    "end_frame": 1734,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701576,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 313,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 493,
                    "end_frame": 722,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 722,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 838,
                    "end_frame": 974,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 974,
                    "end_frame": 1153,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1153,
                    "end_frame": 1398,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701630,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 313,
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                {
                    "start_frame": 537,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 738,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 838,
                    "end_frame": 987,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 987,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1188,
                    "end_frame": 1564,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705374,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 282,
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                {
                    "start_frame": 586,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 764,
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                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 890,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 981,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1206,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705404,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 317,
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                {
                    "start_frame": 527,
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                {
                    "start_frame": 843,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1062,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1243,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1502,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705431,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 62,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 456,
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                {
                    "start_frame": 691,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 890,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1076,
                    "end_frame": 1180,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1180,
                    "end_frame": 1537,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1537,
                    "end_frame": 1993,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705456,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 369,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 369,
                    "end_frame": 591,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 591,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 997,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1514,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1514,
                    "end_frame": 1829,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705593,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 275,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 525,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 999,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 999,
                    "end_frame": 1087,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1087,
                    "end_frame": 1341,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1624,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705624,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 407,
                    "end_frame": 646,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 646,
                    "end_frame": 881,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1089,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1089,
                    "end_frame": 1215,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1215,
                    "end_frame": 1474,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1887,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705634,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 377,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 608,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 879,
                    "end_frame": 1167,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1167,
                    "end_frame": 1270,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1270,
                    "end_frame": 1507,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1507,
                    "end_frame": 1880,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705657,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 404,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 404,
                    "end_frame": 686,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 686,
                    "end_frame": 949,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 949,
                    "end_frame": 1148,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1148,
                    "end_frame": 1262,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1262,
                    "end_frame": 1531,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1531,
                    "end_frame": 1815,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705841,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 89,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 380,
                    "end_frame": 759,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 759,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 955,
                    "end_frame": 1303,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1303,
                    "end_frame": 1406,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1406,
                    "end_frame": 1539,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1539,
                    "end_frame": 1812,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706004,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 293,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 519,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 809,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 991,
                    "end_frame": 1096,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1096,
                    "end_frame": 1301,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1301,
                    "end_frame": 1568,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706038,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 75,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 381,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 656,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 994,
                    "end_frame": 1165,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1165,
                    "end_frame": 1284,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1284,
                    "end_frame": 1509,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1509,
                    "end_frame": 1920,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706062,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 360,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 606,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 835,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1097,
                    "end_frame": 1222,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1222,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1452,
                    "end_frame": 1785,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706512,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 314,
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                {
                    "start_frame": 591,
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                {
                    "start_frame": 885,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1070,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1181,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1372,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698838,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 287,
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                {
                    "start_frame": 479,
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                {
                    "start_frame": 738,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 933,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1031,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698850,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
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                {
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                {
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                {
                    "start_frame": 644,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 805,
                    "end_frame": 913,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 913,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698867,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 208,
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                {
                    "start_frame": 381,
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                {
                    "start_frame": 557,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 730,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 814,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 814,
                    "end": 1354,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698909,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 202,
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                    "start_frame": 434,
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                {
                    "start_frame": 631,
                    "end_frame": 800,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 800,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 900,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698954,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 289,
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                {
                    "start_frame": 460,
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                {
                    "start_frame": 738,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 894,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1004,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1167,
                    "end_frame": 1590,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698967,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 552,
                    "end_frame": 762,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 762,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1044,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1403,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1403,
                    "end_frame": 1888,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698992,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 227,
                    "end_frame": 413,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 661,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 661,
                    "end_frame": 829,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 951,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1102,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1102,
                    "end_frame": 1984,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699006,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 237,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 237,
                    "end_frame": 404,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 404,
                    "end_frame": 618,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 618,
                    "end_frame": 807,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 807,
                    "end_frame": 880,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 880,
                    "end_frame": 1057,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 2320,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702957,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 250,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 1019,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1019,
                    "end_frame": 1171,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1171,
                    "end_frame": 1560,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1560,
                    "end_frame": 2036,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702965,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 257,
                    "end_frame": 466,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 466,
                    "end_frame": 690,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 690,
                    "end_frame": 907,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 907,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1020,
                    "end_frame": 1166,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1166,
                    "end_frame": 1714,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702982,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 243,
                    "end_frame": 499,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 499,
                    "end_frame": 689,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 689,
                    "end_frame": 1071,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1214,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1214,
                    "end_frame": 1402,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1402,
                    "end_frame": 2276,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 689,
                    "end": 1071,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702995,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 210,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 210,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 460,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 695,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 859,
                    "end_frame": 987,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 987,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1350,
                    "end_frame": 1833,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 987,
                    "end": 1350,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703010,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 210,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 461,
                    "end_frame": 633,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 633,
                    "end_frame": 723,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 723,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 894,
                    "end_frame": 1171,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1171,
                    "end_frame": 1956,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703091,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 235,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 469,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 672,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 812,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1010,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1187,
                    "end_frame": 2065,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703112,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 250,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 606,
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                {
                    "start_frame": 822,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 955,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1098,
                    "end_frame": 1925,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1925,
                    "end_frame": 2443,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1098,
                    "end": 1925,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703134,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 322,
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                {
                    "start_frame": 589,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 797,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 878,
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                {
                    "start_frame": 1029,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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        }
    },
    {
        "episode_id": 703153,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 12,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 210,
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                {
                    "start_frame": 401,
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                {
                    "start_frame": 565,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 716,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 861,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 861,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703172,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 584,
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                {
                    "start_frame": 800,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
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                {
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        }
    },
    {
        "episode_id": 703192,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 18,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 839,
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703219,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 236,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 589,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 813,
                    "end_frame": 910,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1072,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1875,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1875,
                    "end_frame": 2535,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1072,
                    "end": 1875,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703238,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 742,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 742,
                    "end_frame": 832,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 832,
                    "end_frame": 986,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 2015,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 986,
                    "end": 1404,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703256,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 275,
                    "end_frame": 517,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 517,
                    "end_frame": 735,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 735,
                    "end_frame": 861,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 861,
                    "end_frame": 1024,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1255,
                    "end_frame": 1839,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703277,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 210,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 210,
                    "end_frame": 519,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 519,
                    "end_frame": 740,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 740,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1009,
                    "end_frame": 1167,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1167,
                    "end_frame": 1883,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1883,
                    "end_frame": 2537,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1167,
                    "end": 1883,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703296,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 197,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 197,
                    "end_frame": 414,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 414,
                    "end_frame": 627,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 627,
                    "end_frame": 724,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 724,
                    "end_frame": 911,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1161,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1816,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703317,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 238,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 238,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 523,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 842,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 842,
                    "end_frame": 1013,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1013,
                    "end_frame": 1251,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1251,
                    "end_frame": 1922,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703364,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 186,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 186,
                    "end_frame": 441,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 441,
                    "end_frame": 603,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 603,
                    "end_frame": 732,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 732,
                    "end_frame": 877,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 877,
                    "end_frame": 1461,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1461,
                    "end_frame": 1911,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 877,
                    "end": 1461,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703384,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 211,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 211,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 585,
                    "end_frame": 827,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 827,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 957,
                    "end_frame": 1071,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1071,
                    "end_frame": 1391,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1391,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 211,
                    "end": 585,
                    "description": ""
                },
                {
                    "start": 1071,
                    "end": 1391,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703400,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 226,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 226,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 523,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 703,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 789,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 919,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1132,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703419,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 213,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 816,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 994,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1119,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1692,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703436,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 217,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 217,
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                {
                    "start_frame": 496,
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                {
                    "start_frame": 730,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
                    "start_frame": 1104,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 730,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703451,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 19,
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 703466,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 768,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ]
        }
    },
    {
        "episode_id": 703488,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 824,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1419,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 944,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703563,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 3,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 456,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 729,
                    "end_frame": 858,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 858,
                    "end_frame": 993,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1229,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1898,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703613,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 242,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 468,
                    "end_frame": 710,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 710,
                    "end_frame": 934,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 934,
                    "end_frame": 1060,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1060,
                    "end_frame": 1534,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1534,
                    "end_frame": 2176,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1060,
                    "end": 1534,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703674,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 243,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 557,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 877,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 877,
                    "end_frame": 1025,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1025,
                    "end_frame": 1327,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1327,
                    "end_frame": 1496,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1025,
                    "end": 1327,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703703,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 253,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 495,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 770,
                    "end_frame": 913,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 913,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1054,
                    "end_frame": 1400,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1400,
                    "end_frame": 1931,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703726,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 281,
                    "end_frame": 562,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 562,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 857,
                    "end_frame": 1031,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1031,
                    "end_frame": 1126,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1126,
                    "end_frame": 1442,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1442,
                    "end_frame": 2041,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703761,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 247,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 454,
                    "end_frame": 670,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 670,
                    "end_frame": 864,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 864,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 980,
                    "end_frame": 1695,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1695,
                    "end_frame": 2876,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703798,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 223,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 223,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 452,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 704,
                    "end_frame": 793,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 793,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 927,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1824,
                    "end_frame": 2302,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 927,
                    "end": 1824,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703820,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 518,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 820,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1008,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1085,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1660,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703841,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 713,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 971,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1142,
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
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                {
                    "start": 1301,
                    "end": 1794,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703861,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 19,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
                    "start_frame": 1144,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 703895,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
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        }
    },
    {
        "episode_id": 703913,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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    },
    {
        "episode_id": 703933,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 0,
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        }
    },
    {
        "episode_id": 703953,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 703973,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                    "start_frame": 933,
                    "end_frame": 1075,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1530,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1530,
                    "end_frame": 2090,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 238,
                    "end": 647,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703992,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 276,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 605,
                    "end_frame": 872,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 872,
                    "end_frame": 990,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1117,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1117,
                    "end_frame": 1488,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1488,
                    "end_frame": 2037,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704074,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 217,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 217,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 467,
                    "end_frame": 682,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 682,
                    "end_frame": 832,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 832,
                    "end_frame": 979,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1358,
                    "end_frame": 1847,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704086,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 248,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 468,
                    "end_frame": 621,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 621,
                    "end_frame": 754,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 754,
                    "end_frame": 846,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 846,
                    "end_frame": 1055,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1613,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704138,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 214,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 214,
                    "end_frame": 554,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 554,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 723,
                    "end_frame": 807,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 807,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1113,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1113,
                    "end_frame": 1556,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704187,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 228,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 228,
                    "end_frame": 463,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 463,
                    "end_frame": 667,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 667,
                    "end_frame": 862,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 862,
                    "end_frame": 965,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 965,
                    "end_frame": 1706,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1706,
                    "end_frame": 1920,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 965,
                    "end": 1706,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704214,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 261,
                    "end_frame": 492,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 492,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 967,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 967,
                    "end_frame": 1101,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1101,
                    "end_frame": 1509,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1509,
                    "end_frame": 2633,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1101,
                    "end": 1509,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 229,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 229,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 464,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 735,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 950,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1072,
                    "end_frame": 1887,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1887,
                    "end_frame": 2306,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
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            ],
            "key_frame": [
                {
                    "start": 1072,
                    "end": 1887,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704309,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 233,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 233,
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                {
                    "start_frame": 481,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 650,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 793,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 903,
                    "end_frame": 1136,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704338,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1031,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1333,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 234,
                    "end": 667,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704367,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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                {
                    "start": 1066,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 60,
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                {
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
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                {
                    "start": 1014,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704420,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                {
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 704457,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 1096,
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                }
            ]
        }
    },
    {
        "episode_id": 704494,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
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                {
                    "start_frame": 658,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                {
                    "start_frame": 914,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1413,
                    "end_frame": 1925,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 914,
                    "end": 1413,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704516,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 270,
                    "end_frame": 529,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 529,
                    "end_frame": 687,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 687,
                    "end_frame": 801,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 801,
                    "end_frame": 864,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 864,
                    "end_frame": 1020,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1020,
                    "end_frame": 1644,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704764,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 229,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 444,
                    "end_frame": 671,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 671,
                    "end_frame": 1032,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1032,
                    "end_frame": 1141,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1141,
                    "end_frame": 1392,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1392,
                    "end_frame": 1673,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704798,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 794,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1015,
                    "end_frame": 1143,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1143,
                    "end_frame": 1280,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1280,
                    "end_frame": 1957,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            "key_frame": [
                {
                    "start": 179,
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                }
            ]
        }
    },
    {
        "episode_id": 704816,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 44,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1065,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1231,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                {
                    "start": 610,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704842,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
                    "start_frame": 52,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                    "start_frame": 474,
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                {
                    "start_frame": 646,
                    "end_frame": 803,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 803,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 938,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1118,
                    "end_frame": 1445,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704865,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 709,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1058,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704888,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 704908,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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                {
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                {
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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        }
    },
    {
        "episode_id": 704934,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
                    "start_frame": 0,
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                    "action_text": "Grasp the left arm with the left hand.",
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                }
            ]
        }
    },
    {
        "episode_id": 704951,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 704976,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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    },
    {
        "episode_id": 705010,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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    },
    {
        "episode_id": 705042,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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        }
    },
    {
        "episode_id": 705063,
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        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
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            "action_config": [
                {
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        }
    },
    {
        "episode_id": 705075,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 202,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 202,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 832,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 832,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1074,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1074,
                    "end_frame": 1210,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1755,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1210,
                    "end": 1755,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 705097,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 225,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 225,
                    "end_frame": 419,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 622,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 622,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 917,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 917,
                    "end_frame": 1080,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1080,
                    "end_frame": 1372,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705112,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 208,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 208,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 727,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 727,
                    "end_frame": 861,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 861,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1112,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1112,
                    "end_frame": 1306,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677800,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 241,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 241,
                    "end_frame": 560,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 560,
                    "end_frame": 821,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 821,
                    "end_frame": 965,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1059,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1216,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1216,
                    "end_frame": 1823,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677830,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 284,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 794,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 794,
                    "end_frame": 926,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1440,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1440,
                    "end_frame": 2089,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677909,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 227,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 803,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 803,
                    "end_frame": 868,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 868,
                    "end_frame": 1091,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1841,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677929,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 498,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 498,
                    "end_frame": 844,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 844,
                    "end_frame": 953,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 953,
                    "end_frame": 1045,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1282,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1836,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678001,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 799,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 799,
                    "end_frame": 983,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1065,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1828,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678023,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 307,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 1001,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1163,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1242,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1414,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1414,
                    "end_frame": 2081,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678060,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 833,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1127,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 2138,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678133,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 323,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 645,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 645,
                    "end_frame": 944,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1085,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1085,
                    "end_frame": 1149,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1357,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1357,
                    "end_frame": 1868,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678244,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 214,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 214,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 893,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1022,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1147,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1147,
                    "end_frame": 1409,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1409,
                    "end_frame": 1897,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 609,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 609,
                    "end_frame": 959,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1045,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1184,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1616,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1616,
                    "end_frame": 2331,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678315,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 231,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 1037,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1037,
                    "end_frame": 1131,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1131,
                    "end_frame": 1432,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1432,
                    "end_frame": 1864,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678341,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 567,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 869,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1007,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1141,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1451,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1451,
                    "end_frame": 2313,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678383,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 244,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 244,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1030,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1159,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1493,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1493,
                    "end_frame": 1853,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678413,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 575,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 575,
                    "end_frame": 847,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 847,
                    "end_frame": 1002,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1002,
                    "end_frame": 1116,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1398,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1398,
                    "end_frame": 1856,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678430,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 583,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 583,
                    "end_frame": 873,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 873,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1163,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1403,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1403,
                    "end_frame": 1898,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678485,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 307,
                    "end_frame": 597,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 597,
                    "end_frame": 845,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1086,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1376,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1376,
                    "end_frame": 2047,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678503,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1095,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1167,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1167,
                    "end_frame": 1458,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1458,
                    "end_frame": 1903,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678533,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 605,
                    "end_frame": 940,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1130,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1130,
                    "end_frame": 1213,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1519,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1519,
                    "end_frame": 2314,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678578,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 699,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 699,
                    "end_frame": 1068,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1068,
                    "end_frame": 1228,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1228,
                    "end_frame": 1301,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1301,
                    "end_frame": 1566,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1566,
                    "end_frame": 1991,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678615,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 402,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 402,
                    "end_frame": 784,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 784,
                    "end_frame": 1125,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1241,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1241,
                    "end_frame": 1323,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1323,
                    "end_frame": 1538,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1538,
                    "end_frame": 2187,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678696,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 597,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 597,
                    "end_frame": 908,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1081,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1153,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1371,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1371,
                    "end_frame": 1820,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678718,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 262,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 640,
                    "end_frame": 946,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1059,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1148,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1148,
                    "end_frame": 1459,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1459,
                    "end_frame": 2196,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678740,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 920,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1068,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1068,
                    "end_frame": 1173,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1438,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1438,
                    "end_frame": 1834,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678780,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 871,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 871,
                    "end_frame": 969,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1062,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1329,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1329,
                    "end_frame": 1698,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678803,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 279,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 862,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 862,
                    "end_frame": 1059,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1128,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1128,
                    "end_frame": 1439,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1439,
                    "end_frame": 1984,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679056,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 881,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1001,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1122,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1122,
                    "end_frame": 1505,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1505,
                    "end_frame": 2063,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679140,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 278,
                    "end_frame": 668,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 668,
                    "end_frame": 1028,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1155,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1237,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1237,
                    "end_frame": 1558,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1558,
                    "end_frame": 1993,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 278,
                    "end": 668,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679216,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 266,
                    "end_frame": 558,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 558,
                    "end_frame": 875,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1017,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1389,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1389,
                    "end_frame": 1835,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 589,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 589,
                    "end_frame": 900,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1053,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1208,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1520,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1520,
                    "end_frame": 2004,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679283,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 558,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 558,
                    "end_frame": 878,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1026,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1140,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1982,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1982,
                    "end_frame": 2503,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1140,
                    "end": 1982,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679307,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 825,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 825,
                    "end_frame": 946,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1063,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1334,
                    "end_frame": 1758,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679329,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 460,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 460,
                    "end_frame": 780,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 780,
                    "end_frame": 914,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1789,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1789,
                    "end_frame": 2154,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1020,
                    "end": 1789,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679913,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 240,
                    "end_frame": 548,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 548,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 954,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1235,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1666,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683779,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 584,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 584,
                    "end_frame": 896,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1003,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1275,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1275,
                    "end_frame": 1789,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683795,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 289,
                    "end_frame": 572,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 572,
                    "end_frame": 927,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1020,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1075,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1265,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1504,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683824,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 305,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 585,
                    "end_frame": 891,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 891,
                    "end_frame": 1039,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1096,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1287,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1287,
                    "end_frame": 1478,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683852,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 315,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 315,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 910,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1340,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1340,
                    "end_frame": 1532,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683873,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 541,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 541,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 859,
                    "end_frame": 912,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1118,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1394,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683887,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 236,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 468,
                    "end_frame": 694,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 694,
                    "end_frame": 843,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 843,
                    "end_frame": 905,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 905,
                    "end_frame": 1141,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1361,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683907,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 284,
                    "end_frame": 773,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 773,
                    "end_frame": 950,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1098,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1098,
                    "end_frame": 1234,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1369,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1369,
                    "end_frame": 1972,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 284,
                    "end": 773,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683918,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 655,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 655,
                    "end_frame": 774,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 774,
                    "end_frame": 847,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 847,
                    "end_frame": 1006,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1459,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683947,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 723,
                    "end_frame": 816,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 816,
                    "end_frame": 887,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 887,
                    "end_frame": 1001,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1370,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683964,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 321,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 321,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 580,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 930,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1114,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1114,
                    "end_frame": 1499,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683983,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 67,
                    "end_frame": 334,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 334,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 549,
                    "end_frame": 720,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 720,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 902,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1317,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1317,
                    "end_frame": 1661,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 902,
                    "end": 1317,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683996,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 556,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 865,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 865,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1142,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1395,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684045,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 476,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 476,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 888,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 888,
                    "end_frame": 945,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1098,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1098,
                    "end_frame": 1450,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684082,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 731,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 731,
                    "end_frame": 873,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 873,
                    "end_frame": 912,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1108,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1428,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684202,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 195,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 195,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 654,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 654,
                    "end_frame": 763,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 763,
                    "end_frame": 802,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 802,
                    "end_frame": 950,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1213,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684231,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 679,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 679,
                    "end_frame": 777,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 777,
                    "end_frame": 837,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 837,
                    "end_frame": 992,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1319,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684270,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 490,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 490,
                    "end_frame": 775,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 775,
                    "end_frame": 900,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 900,
                    "end_frame": 955,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1164,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 1471,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 270,
                    "end_frame": 510,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 510,
                    "end_frame": 725,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 725,
                    "end_frame": 865,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 865,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1138,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1138,
                    "end_frame": 1599,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684351,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 271,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 540,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 770,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 950,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1154,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1154,
                    "end_frame": 1804,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1154,
                    "end": 1804,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684382,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 541,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 541,
                    "end_frame": 795,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 795,
                    "end_frame": 910,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 910,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1161,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1495,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684406,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 562,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 562,
                    "end_frame": 774,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 774,
                    "end_frame": 900,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 900,
                    "end_frame": 941,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1159,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1726,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1159,
                    "end": 1726,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684434,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 243,
                    "end_frame": 444,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 444,
                    "end_frame": 630,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 630,
                    "end_frame": 742,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 742,
                    "end_frame": 792,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 792,
                    "end_frame": 1212,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1212,
                    "end_frame": 1868,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 792,
                    "end": 1212,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684461,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 639,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 639,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 834,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 834,
                    "end_frame": 985,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1483,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684499,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 810,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 810,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 911,
                    "end_frame": 952,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 952,
                    "end_frame": 1128,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1128,
                    "end_frame": 1503,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684523,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 228,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 228,
                    "end_frame": 436,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 648,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 648,
                    "end_frame": 753,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 753,
                    "end_frame": 813,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 813,
                    "end_frame": 1236,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1236,
                    "end_frame": 1624,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 813,
                    "end": 1236,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684552,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1075,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1334,
                    "end_frame": 1610,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684581,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 223,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 223,
                    "end_frame": 412,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 412,
                    "end_frame": 640,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 640,
                    "end_frame": 794,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 794,
                    "end_frame": 860,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 860,
                    "end_frame": 996,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1305,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 238,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 238,
                    "end_frame": 444,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 444,
                    "end_frame": 843,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 843,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1011,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1011,
                    "end_frame": 1246,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1246,
                    "end_frame": 1885,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702662,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 628,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 628,
                    "end_frame": 949,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1127,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1269,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1668,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1668,
                    "end_frame": 1969,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702675,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 314,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 544,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 939,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1334,
                    "end_frame": 1609,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702699,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 315,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 315,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 765,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 765,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1043,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1594,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1594,
                    "end_frame": 2022,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702707,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 509,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 509,
                    "end_frame": 757,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 757,
                    "end_frame": 867,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 867,
                    "end_frame": 1000,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1813,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1813,
                    "end_frame": 2191,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702722,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 757,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 757,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 890,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1341,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1616,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702739,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 964,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1090,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1214,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1214,
                    "end_frame": 1719,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1719,
                    "end_frame": 2149,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702769,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 510,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 510,
                    "end_frame": 765,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 765,
                    "end_frame": 878,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1039,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1693,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702783,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 436,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 621,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 621,
                    "end_frame": 743,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 743,
                    "end_frame": 887,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 887,
                    "end_frame": 1440,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1440,
                    "end_frame": 1721,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702803,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 767,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 767,
                    "end_frame": 983,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 1497,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1497,
                    "end_frame": 1962,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702818,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1536,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1536,
                    "end_frame": 1923,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702840,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 512,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 913,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1072,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1592,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1592,
                    "end_frame": 2402,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702855,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 534,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 534,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 1058,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1058,
                    "end_frame": 1405,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1805,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702869,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 467,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 869,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1580,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1580,
                    "end_frame": 1941,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702890,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 291,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 291,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 753,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 753,
                    "end_frame": 843,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 843,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 2140,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2140,
                    "end_frame": 2566,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702913,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 472,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 930,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1091,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1325,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1325,
                    "end_frame": 1629,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1629,
                    "end_frame": 2048,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702930,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 12,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 465,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 465,
                    "end_frame": 927,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1043,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1188,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1188,
                    "end_frame": 2074,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2074,
                    "end_frame": 2814,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702943,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 497,
                    "end_frame": 700,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 700,
                    "end_frame": 825,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 825,
                    "end_frame": 927,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1556,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702955,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 501,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 501,
                    "end_frame": 690,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 690,
                    "end_frame": 817,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 817,
                    "end_frame": 947,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1167,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1167,
                    "end_frame": 2017,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702985,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 247,
                    "end_frame": 445,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 870,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 870,
                    "end_frame": 1073,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1406,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1406,
                    "end_frame": 1732,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703015,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 688,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 688,
                    "end_frame": 867,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 867,
                    "end_frame": 963,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1441,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1441,
                    "end_frame": 1736,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703034,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 779,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 779,
                    "end_frame": 946,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 2335,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2335,
                    "end_frame": 2560,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703055,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 545,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 545,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1042,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1352,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1352,
                    "end_frame": 1622,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703074,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 490,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 490,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1034,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1452,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703107,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 890,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 890,
                    "end_frame": 1106,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1106,
                    "end_frame": 1250,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1250,
                    "end_frame": 1551,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1551,
                    "end_frame": 1867,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703124,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 486,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 486,
                    "end_frame": 758,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 758,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 998,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 998,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1710,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703144,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 490,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 490,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 936,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1477,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1477,
                    "end_frame": 1740,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703164,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1077,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1388,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1388,
                    "end_frame": 1679,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703243,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 449,
                    "end_frame": 699,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 699,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 808,
                    "end_frame": 929,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1246,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1246,
                    "end_frame": 1626,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703279,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 313,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 313,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 912,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1047,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1292,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1622,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703298,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 714,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 714,
                    "end_frame": 828,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 828,
                    "end_frame": 960,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1433,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1433,
                    "end_frame": 1738,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703315,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 963,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1120,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1285,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1285,
                    "end_frame": 1752,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703345,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 458,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 458,
                    "end_frame": 716,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 716,
                    "end_frame": 840,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 840,
                    "end_frame": 977,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1200,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 1680,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703383,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 456,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 695,
                    "end_frame": 820,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 820,
                    "end_frame": 1166,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1428,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1428,
                    "end_frame": 1752,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703403,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 369,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 369,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 959,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1473,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1473,
                    "end_frame": 2181,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703421,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 504,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 504,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1324,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1324,
                    "end_frame": 1537,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1537,
                    "end_frame": 2222,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703442,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 271,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 711,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 711,
                    "end_frame": 838,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 838,
                    "end_frame": 1161,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1732,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703464,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 715,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 715,
                    "end_frame": 850,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 850,
                    "end_frame": 1123,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1306,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1306,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 526,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 526,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 875,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1054,
                    "end_frame": 1293,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1679,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703490,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1207,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1207,
                    "end_frame": 1540,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1540,
                    "end_frame": 1913,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 315,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 315,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1188,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1188,
                    "end_frame": 1402,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1402,
                    "end_frame": 1798,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703523,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 889,
                    "end_frame": 969,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1274,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1712,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703539,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 773,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 773,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1100,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1252,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1587,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703556,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 262,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 997,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1162,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1162,
                    "end_frame": 1388,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1388,
                    "end_frame": 1722,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1722,
                    "end_frame": 2095,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703573,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 919,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1043,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1209,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1209,
                    "end_frame": 1560,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1560,
                    "end_frame": 1906,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703590,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 62,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1133,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1133,
                    "end_frame": 1539,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 2018,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703610,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1124,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1399,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1399,
                    "end_frame": 1679,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703633,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 540,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 884,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 884,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1454,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1454,
                    "end_frame": 1842,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703651,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 833,
                    "end_frame": 975,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1131,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1131,
                    "end_frame": 1301,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1301,
                    "end_frame": 1483,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703682,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 467,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 737,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 859,
                    "end_frame": 1069,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1276,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1276,
                    "end_frame": 1450,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703728,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 217,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 217,
                    "end_frame": 452,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 452,
                    "end_frame": 684,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 684,
                    "end_frame": 833,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 833,
                    "end_frame": 984,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1110,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1381,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703745,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 443,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 443,
                    "end_frame": 674,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 674,
                    "end_frame": 906,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1014,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1274,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1464,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703760,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 254,
                    "end_frame": 446,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 446,
                    "end_frame": 649,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 649,
                    "end_frame": 740,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 740,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1108,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1485,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703774,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 835,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 835,
                    "end_frame": 959,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1665,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703791,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 256,
                    "end_frame": 466,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 466,
                    "end_frame": 701,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 701,
                    "end_frame": 863,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1193,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1193,
                    "end_frame": 1596,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703870,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 438,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 438,
                    "end_frame": 651,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 651,
                    "end_frame": 930,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1057,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1235,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1608,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1608,
                    "end_frame": 2007,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703935,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 256,
                    "end_frame": 413,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 597,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 597,
                    "end_frame": 739,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 739,
                    "end_frame": 852,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 852,
                    "end_frame": 1040,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1368,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703989,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 222,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 222,
                    "end_frame": 423,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 828,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 828,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1096,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1270,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1270,
                    "end_frame": 1819,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704027,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 631,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 631,
                    "end_frame": 779,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 779,
                    "end_frame": 874,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1097,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1531,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704044,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 272,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 717,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 717,
                    "end_frame": 852,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 852,
                    "end_frame": 979,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1160,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1408,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704061,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 483,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 619,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 619,
                    "end_frame": 761,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 761,
                    "end_frame": 850,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 850,
                    "end_frame": 1041,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1762,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704102,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 270,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 686,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 686,
                    "end_frame": 816,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 816,
                    "end_frame": 893,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1704,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704119,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 453,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 453,
                    "end_frame": 676,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 676,
                    "end_frame": 809,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 809,
                    "end_frame": 940,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1312,
                    "end_frame": 1629,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704139,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 497,
                    "end_frame": 758,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 758,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 856,
                    "end_frame": 970,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1523,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1523,
                    "end_frame": 1839,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704197,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 310,
                    "end_frame": 482,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 482,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 695,
                    "end_frame": 885,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1091,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1294,
                    "end_frame": 1593,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704277,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 601,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 601,
                    "end_frame": 785,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 785,
                    "end_frame": 922,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 922,
                    "end_frame": 1049,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1049,
                    "end_frame": 1215,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1215,
                    "end_frame": 1821,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1215,
                    "end": 1821,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704304,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 426,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 426,
                    "end_frame": 667,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 667,
                    "end_frame": 798,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 798,
                    "end_frame": 914,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1084,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1351,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704335,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 226,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 226,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 653,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 653,
                    "end_frame": 780,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 780,
                    "end_frame": 897,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 897,
                    "end_frame": 1051,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1316,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704349,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 463,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 463,
                    "end_frame": 693,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 693,
                    "end_frame": 802,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 802,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1484,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1484,
                    "end_frame": 1750,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704385,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 530,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 530,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 726,
                    "end_frame": 806,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 806,
                    "end_frame": 917,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 917,
                    "end_frame": 1092,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1394,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704421,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 626,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 626,
                    "end_frame": 831,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 831,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1030,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1350,
                    "end_frame": 1764,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704537,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 245,
                    "end_frame": 450,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 450,
                    "end_frame": 692,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 692,
                    "end_frame": 805,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 805,
                    "end_frame": 892,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 892,
                    "end_frame": 1169,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1169,
                    "end_frame": 1708,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704574,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 226,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 226,
                    "end_frame": 441,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 441,
                    "end_frame": 680,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 680,
                    "end_frame": 833,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 833,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1261,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1261,
                    "end_frame": 1635,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668641,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 407,
                    "end_frame": 619,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 619,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1029,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1029,
                    "end_frame": 1296,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1296,
                    "end_frame": 2007,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668687,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 915,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1103,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1103,
                    "end_frame": 1281,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1281,
                    "end_frame": 1539,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 668830,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 400,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 400,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 892,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 892,
                    "end_frame": 954,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1151,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1151,
                    "end_frame": 1435,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669045,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 938,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1043,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1109,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1109,
                    "end_frame": 1243,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1243,
                    "end_frame": 1557,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669123,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 236,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 709,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 709,
                    "end_frame": 810,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 810,
                    "end_frame": 898,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 898,
                    "end_frame": 1084,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1773,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669213,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 817,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 817,
                    "end_frame": 912,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 912,
                    "end_frame": 966,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1190,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1438,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669303,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 585,
                    "end_frame": 812,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 812,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1223,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1490,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669386,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 880,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 880,
                    "end_frame": 981,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1045,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1271,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1271,
                    "end_frame": 1516,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669418,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 357,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 776,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 776,
                    "end_frame": 854,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 854,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1073,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1288,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669450,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 356,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 356,
                    "end_frame": 560,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 560,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 839,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 839,
                    "end_frame": 933,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 933,
                    "end_frame": 1135,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1135,
                    "end_frame": 1529,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669504,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 425,
                    "end_frame": 655,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 655,
                    "end_frame": 989,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1055,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1141,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1314,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1314,
                    "end_frame": 1610,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669523,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 596,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 896,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1016,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1198,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1430,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669563,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 637,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 637,
                    "end_frame": 907,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 907,
                    "end_frame": 998,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 998,
                    "end_frame": 1080,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1080,
                    "end_frame": 1250,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1250,
                    "end_frame": 1677,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669597,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 346,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 346,
                    "end_frame": 570,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 570,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1507,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669655,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 330,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 641,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 641,
                    "end_frame": 859,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 859,
                    "end_frame": 931,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 931,
                    "end_frame": 1046,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1192,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1192,
                    "end_frame": 1439,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669879,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 838,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 838,
                    "end_frame": 913,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1012,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1155,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1384,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 669954,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
                    "end_frame": 880,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 880,
                    "end_frame": 980,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1232,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1452,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670190,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 841,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 841,
                    "end_frame": 956,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1052,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1207,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1207,
                    "end_frame": 1466,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670236,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 364,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 606,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 606,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 809,
                    "end_frame": 884,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 884,
                    "end_frame": 978,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1235,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1576,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670387,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 365,
                    "end_frame": 646,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 646,
                    "end_frame": 887,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 887,
                    "end_frame": 951,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1266,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1478,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670478,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 567,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 770,
                    "end_frame": 838,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 838,
                    "end_frame": 928,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1092,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1292,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670522,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 979,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1229,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1476,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 670759,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 398,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 398,
                    "end_frame": 656,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 656,
                    "end_frame": 903,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 903,
                    "end_frame": 984,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1144,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1144,
                    "end_frame": 1301,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1301,
                    "end_frame": 1567,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677567,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 409,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 409,
                    "end_frame": 749,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 749,
                    "end_frame": 1046,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1190,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1280,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1280,
                    "end_frame": 1764,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1764,
                    "end_frame": 2316,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1280,
                    "end": 1764,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677713,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 886,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1026,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1118,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1495,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1495,
                    "end_frame": 2081,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677762,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 705,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 705,
                    "end_frame": 933,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 933,
                    "end_frame": 1060,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1060,
                    "end_frame": 1162,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1162,
                    "end_frame": 1847,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1847,
                    "end_frame": 2364,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1162,
                    "end": 1847,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677775,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 524,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 524,
                    "end_frame": 797,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 797,
                    "end_frame": 1018,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1152,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1152,
                    "end_frame": 1265,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1741,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1741,
                    "end_frame": 2148,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677886,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 456,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 734,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 734,
                    "end_frame": 993,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1097,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1231,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1498,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1498,
                    "end_frame": 1834,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 677896,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 457,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 457,
                    "end_frame": 740,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 740,
                    "end_frame": 1015,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1141,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1269,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1767,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1767,
                    "end_frame": 2213,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1269,
                    "end": 1767,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677944,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 472,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 755,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 755,
                    "end_frame": 1078,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1078,
                    "end_frame": 1194,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1284,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1773,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1773,
                    "end_frame": 2136,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678012,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 418,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 418,
                    "end_frame": 662,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 662,
                    "end_frame": 958,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1052,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1147,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1147,
                    "end_frame": 1656,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1656,
                    "end_frame": 2209,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1147,
                    "end": 1656,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678029,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 686,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 686,
                    "end_frame": 984,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1081,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1185,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1185,
                    "end_frame": 1652,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1652,
                    "end_frame": 2094,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678125,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 377,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 608,
                    "end_frame": 892,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 892,
                    "end_frame": 992,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1142,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1908,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1908,
                    "end_frame": 2508,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1142,
                    "end": 1908,
                    "description": ""
                },
                {
                    "start": 1908,
                    "end": 2508,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678183,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 453,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 453,
                    "end_frame": 701,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 701,
                    "end_frame": 1155,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1282,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1403,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1403,
                    "end_frame": 1856,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1856,
                    "end_frame": 2408,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678246,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 392,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 392,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 974,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1091,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1216,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1216,
                    "end_frame": 1710,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1710,
                    "end_frame": 2326,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678304,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 412,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 412,
                    "end_frame": 642,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 642,
                    "end_frame": 919,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1981,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1981,
                    "end_frame": 2508,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1108,
                    "end": 1981,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678342,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 616,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 616,
                    "end_frame": 889,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1014,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1118,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1586,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1586,
                    "end_frame": 2169,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678392,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 446,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 446,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1061,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1138,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1138,
                    "end_frame": 1753,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1753,
                    "end_frame": 2153,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678472,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 420,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 420,
                    "end_frame": 668,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 668,
                    "end_frame": 955,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1059,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1170,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1170,
                    "end_frame": 1789,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1789,
                    "end_frame": 2262,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1170,
                    "end": 1789,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678570,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 466,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 466,
                    "end_frame": 697,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 697,
                    "end_frame": 1044,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1129,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1248,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1248,
                    "end_frame": 1769,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1769,
                    "end_frame": 2298,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1248,
                    "end": 1769,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678690,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 403,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 939,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1025,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1097,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1449,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1449,
                    "end_frame": 1921,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 423,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 615,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 615,
                    "end_frame": 927,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1014,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1073,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1607,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1607,
                    "end_frame": 2000,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1073,
                    "end": 1607,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678896,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 394,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 394,
                    "end_frame": 606,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 606,
                    "end_frame": 899,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 899,
                    "end_frame": 989,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1468,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1468,
                    "end_frame": 2055,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1050,
                    "end": 2055,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678912,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 513,
                    "end_frame": 870,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 870,
                    "end_frame": 953,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 953,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1781,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1781,
                    "end_frame": 2200,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1023,
                    "end": 1781,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678925,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 317,
                    "end_frame": 498,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 498,
                    "end_frame": 773,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 773,
                    "end_frame": 869,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 869,
                    "end_frame": 948,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1812,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1812,
                    "end_frame": 2115,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 948,
                    "end": 1812,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679064,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 555,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 555,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 849,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1009,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1231,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1487,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679077,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 541,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 541,
                    "end_frame": 834,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 834,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1619,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679092,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 786,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 786,
                    "end_frame": 870,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 870,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1299,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1829,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1299,
                    "end": 1829,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679131,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 422,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 422,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 605,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 853,
                    "end_frame": 1069,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1198,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1770,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1770,
                    "end_frame": 2147,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679161,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 526,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 526,
                    "end_frame": 800,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 800,
                    "end_frame": 891,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 891,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1506,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1506,
                    "end_frame": 1866,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 980,
                    "end": 1506,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679201,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 466,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 466,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 835,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 835,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1422,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1782,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679217,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 822,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 822,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1722,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679267,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
                    "end_frame": 530,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 530,
                    "end_frame": 961,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 961,
                    "end_frame": 1074,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1074,
                    "end_frame": 1241,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1241,
                    "end_frame": 1438,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1438,
                    "end_frame": 1723,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679318,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 856,
                    "end_frame": 933,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 933,
                    "end_frame": 1453,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1453,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679335,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 377,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 865,
                    "end_frame": 981,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1068,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1068,
                    "end_frame": 1382,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1382,
                    "end_frame": 1571,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679354,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 482,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 482,
                    "end_frame": 699,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 699,
                    "end_frame": 779,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 779,
                    "end_frame": 870,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 870,
                    "end_frame": 1044,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1919,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1044,
                    "end": 1919,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679411,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 762,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 762,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1052,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 1779,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679420,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 308,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 308,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 540,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 839,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 839,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1159,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1388,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679442,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 240,
                    "end_frame": 416,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 416,
                    "end_frame": 674,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 674,
                    "end_frame": 749,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 749,
                    "end_frame": 845,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1402,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679640,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 537,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 537,
                    "end_frame": 859,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 859,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1603,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1603,
                    "end_frame": 1975,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1050,
                    "end": 1603,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679658,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 883,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 883,
                    "end_frame": 966,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1146,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1146,
                    "end_frame": 1486,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679680,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 582,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 582,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 972,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1095,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1394,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1394,
                    "end_frame": 1651,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679714,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 478,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 478,
                    "end_frame": 710,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 710,
                    "end_frame": 845,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 845,
                    "end_frame": 931,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 931,
                    "end_frame": 1261,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1261,
                    "end_frame": 1586,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679833,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 497,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 920,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1273,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1273,
                    "end_frame": 1518,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679871,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 314,
                    "end_frame": 505,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 505,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 726,
                    "end_frame": 836,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 836,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1229,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1441,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683772,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 304,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 304,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 920,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 920,
                    "end_frame": 997,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1458,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1458,
                    "end_frame": 1713,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683783,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 776,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 776,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 889,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1414,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1414,
                    "end_frame": 1759,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683796,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 767,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 767,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 890,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1288,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1632,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683807,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 307,
                    "end_frame": 578,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 578,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 813,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 994,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1407,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1407,
                    "end_frame": 1663,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683821,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 358,
                    "end_frame": 680,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 680,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 879,
                    "end_frame": 984,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1073,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1559,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1559,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683834,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 398,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 398,
                    "end_frame": 680,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 680,
                    "end_frame": 1018,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1173,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1293,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1581,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1581,
                    "end_frame": 1913,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683868,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 321,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 321,
                    "end_frame": 582,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 582,
                    "end_frame": 864,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 864,
                    "end_frame": 969,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1065,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1487,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 2124,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1065,
                    "end": 1487,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 349,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 605,
                    "end_frame": 930,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1061,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1161,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1350,
                    "end_frame": 1866,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683882,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 566,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 566,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 829,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1039,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1433,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1433,
                    "end_frame": 2054,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683890,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 601,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 601,
                    "end_frame": 886,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 886,
                    "end_frame": 995,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1083,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1419,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1419,
                    "end_frame": 2020,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683908,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 316,
                    "end_frame": 576,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 576,
                    "end_frame": 1011,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1011,
                    "end_frame": 1062,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1112,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1112,
                    "end_frame": 1369,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1369,
                    "end_frame": 1777,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683928,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 945,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1051,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1269,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1599,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683935,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 671,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 671,
                    "end_frame": 891,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 891,
                    "end_frame": 984,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1056,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 1768,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683945,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 804,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 804,
                    "end_frame": 908,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1025,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1248,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1248,
                    "end_frame": 1650,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684031,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 560,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 560,
                    "end_frame": 811,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 811,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1019,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1019,
                    "end_frame": 1392,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1392,
                    "end_frame": 1681,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684043,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 822,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 822,
                    "end_frame": 922,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 922,
                    "end_frame": 981,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1495,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1495,
                    "end_frame": 1800,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684068,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 594,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 594,
                    "end_frame": 839,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 839,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 947,
                    "end_frame": 997,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1389,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1389,
                    "end_frame": 1610,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684079,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 628,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 628,
                    "end_frame": 929,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1109,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1109,
                    "end_frame": 1539,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 2055,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684091,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 998,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 998,
                    "end_frame": 1091,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1181,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1597,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1597,
                    "end_frame": 1894,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684102,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 330,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 998,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 998,
                    "end_frame": 1061,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1429,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1429,
                    "end_frame": 1723,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684125,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 596,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 993,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1071,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1532,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1532,
                    "end_frame": 1717,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684139,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 555,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 555,
                    "end_frame": 841,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 841,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1007,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1456,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1456,
                    "end_frame": 1752,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684240,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 594,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 594,
                    "end_frame": 891,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 891,
                    "end_frame": 951,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 1609,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684257,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 826,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 826,
                    "end_frame": 933,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 933,
                    "end_frame": 1005,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1400,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1400,
                    "end_frame": 1656,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1005,
                    "end": 1400,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 684266,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 330,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 330,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 544,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1288,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1742,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684280,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 575,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 575,
                    "end_frame": 856,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 856,
                    "end_frame": 964,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1039,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1353,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1353,
                    "end_frame": 1584,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684290,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 612,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 612,
                    "end_frame": 869,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 869,
                    "end_frame": 962,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1043,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1521,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1521,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684306,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 513,
                    "end_frame": 798,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 798,
                    "end_frame": 896,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 896,
                    "end_frame": 973,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1204,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1204,
                    "end_frame": 1554,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700695,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 364,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 641,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 641,
                    "end_frame": 917,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 917,
                    "end_frame": 1056,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1111,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1111,
                    "end_frame": 1508,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1790,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700792,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 379,
                    "end_frame": 724,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 724,
                    "end_frame": 1041,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1166,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1224,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1224,
                    "end_frame": 1963,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1963,
                    "end_frame": 2394,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700857,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 399,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 1108,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1227,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1227,
                    "end_frame": 1288,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1851,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1851,
                    "end_frame": 2392,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1288,
                    "end": 1851,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 700909,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 975,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1113,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1172,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 1525,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1525,
                    "end_frame": 2001,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700942,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 616,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 616,
                    "end_frame": 957,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1078,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1078,
                    "end_frame": 1204,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1204,
                    "end_frame": 1773,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1773,
                    "end_frame": 2424,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 700997,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 1065,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1177,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1310,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1310,
                    "end_frame": 1783,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1783,
                    "end_frame": 2381,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1310,
                    "end": 1783,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 701051,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 572,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 572,
                    "end_frame": 978,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1100,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1171,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1171,
                    "end_frame": 1672,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1672,
                    "end_frame": 2261,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701085,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 597,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 597,
                    "end_frame": 972,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1106,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1106,
                    "end_frame": 1240,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1240,
                    "end_frame": 1749,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1749,
                    "end_frame": 2206,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701530,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 334,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 334,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 1120,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1227,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1227,
                    "end_frame": 1344,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1344,
                    "end_frame": 1685,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1685,
                    "end_frame": 1971,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678262,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 447,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 447,
                    "end_frame": 796,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 796,
                    "end_frame": 1122,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1122,
                    "end_frame": 1262,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1366,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1366,
                    "end_frame": 1678,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1678,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678310,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 379,
                    "end_frame": 720,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 720,
                    "end_frame": 1001,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1118,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1159,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1522,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1522,
                    "end_frame": 2027,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678333,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 453,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 453,
                    "end_frame": 772,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 772,
                    "end_frame": 1293,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1406,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1406,
                    "end_frame": 1443,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1443,
                    "end_frame": 1701,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1701,
                    "end_frame": 2025,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678386,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 557,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 821,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 821,
                    "end_frame": 1165,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1165,
                    "end_frame": 1262,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1318,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1318,
                    "end_frame": 1576,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1576,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678400,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 430,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 430,
                    "end_frame": 708,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 708,
                    "end_frame": 1027,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1123,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1208,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1567,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1567,
                    "end_frame": 1877,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678419,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 527,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 915,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1336,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1336,
                    "end_frame": 1475,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1475,
                    "end_frame": 1539,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 1793,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1793,
                    "end_frame": 2122,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678603,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 319,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 927,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 927,
                    "end_frame": 990,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1212,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1212,
                    "end_frame": 1487,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 442,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 442,
                    "end_frame": 763,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 763,
                    "end_frame": 1174,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1174,
                    "end_frame": 1281,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1281,
                    "end_frame": 1372,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1372,
                    "end_frame": 1590,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1590,
                    "end_frame": 1882,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678640,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 437,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 437,
                    "end_frame": 790,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 790,
                    "end_frame": 1090,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1199,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1199,
                    "end_frame": 1292,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1539,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 1753,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678654,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 462,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 462,
                    "end_frame": 743,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 743,
                    "end_frame": 1223,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1486,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1486,
                    "end_frame": 1552,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1552,
                    "end_frame": 1768,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1768,
                    "end_frame": 2024,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1223,
                    "end": 1486,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678679,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 431,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 431,
                    "end_frame": 748,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 748,
                    "end_frame": 992,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1083,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1158,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1306,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1306,
                    "end_frame": 1571,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678732,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 389,
                    "end_frame": 663,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 663,
                    "end_frame": 908,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1237,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1237,
                    "end_frame": 1471,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678832,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 335,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 335,
                    "end_frame": 570,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 570,
                    "end_frame": 845,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 845,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1430,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1430,
                    "end_frame": 1925,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1430,
                    "end": 1925,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678859,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 370,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 869,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1269,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1370,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1370,
                    "end_frame": 1629,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1629,
                    "end_frame": 1904,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678900,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 405,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 716,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 716,
                    "end_frame": 1203,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1203,
                    "end_frame": 1422,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1491,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1491,
                    "end_frame": 1736,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1736,
                    "end_frame": 2005,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678919,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 365,
                    "end_frame": 673,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 673,
                    "end_frame": 943,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1049,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1049,
                    "end_frame": 1135,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1135,
                    "end_frame": 1324,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1324,
                    "end_frame": 1580,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678965,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 584,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 584,
                    "end_frame": 1006,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1376,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1376,
                    "end_frame": 1478,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1478,
                    "end_frame": 1556,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1556,
                    "end_frame": 1830,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1830,
                    "end_frame": 2339,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 678986,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 389,
                    "end_frame": 760,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 760,
                    "end_frame": 967,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1181,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1248,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1248,
                    "end_frame": 1549,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1549,
                    "end_frame": 1902,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679007,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 587,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 587,
                    "end_frame": 948,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1361,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1361,
                    "end_frame": 1567,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1567,
                    "end_frame": 1630,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1630,
                    "end_frame": 1979,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1979,
                    "end_frame": 2234,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679132,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 417,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 417,
                    "end_frame": 754,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 754,
                    "end_frame": 1282,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1584,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1584,
                    "end_frame": 1672,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1672,
                    "end_frame": 1836,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1836,
                    "end_frame": 2049,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679159,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 475,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 885,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1291,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1291,
                    "end_frame": 1411,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1411,
                    "end_frame": 1489,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1489,
                    "end_frame": 1789,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1789,
                    "end_frame": 2205,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679185,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 493,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 760,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 760,
                    "end_frame": 1090,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1202,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1202,
                    "end_frame": 1264,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1264,
                    "end_frame": 1438,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1438,
                    "end_frame": 1745,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679223,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 486,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 486,
                    "end_frame": 767,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 767,
                    "end_frame": 1134,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1134,
                    "end_frame": 1347,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1347,
                    "end_frame": 1410,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1410,
                    "end_frame": 1672,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1672,
                    "end_frame": 2027,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1134,
                    "end": 1347,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679320,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 520,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 520,
                    "end_frame": 915,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1203,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1203,
                    "end_frame": 1292,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1359,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1359,
                    "end_frame": 1575,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1575,
                    "end_frame": 1869,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679366,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 85,
                    "end_frame": 508,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 508,
                    "end_frame": 794,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 794,
                    "end_frame": 1130,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1130,
                    "end_frame": 1348,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1348,
                    "end_frame": 1430,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1430,
                    "end_frame": 1641,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1641,
                    "end_frame": 1885,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679688,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 448,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 448,
                    "end_frame": 748,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 748,
                    "end_frame": 993,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1183,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1183,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1462,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1462,
                    "end_frame": 1653,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679851,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 706,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 706,
                    "end_frame": 954,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1158,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1223,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 1753,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679885,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 877,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 877,
                    "end_frame": 1134,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1134,
                    "end_frame": 1186,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1186,
                    "end_frame": 1364,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1364,
                    "end_frame": 1645,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679900,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1117,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1117,
                    "end_frame": 1187,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1514,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1514,
                    "end_frame": 1823,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683745,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 451,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 451,
                    "end_frame": 938,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1447,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1447,
                    "end_frame": 1557,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1557,
                    "end_frame": 1630,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1630,
                    "end_frame": 1887,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1887,
                    "end_frame": 2147,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683865,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 841,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 841,
                    "end_frame": 1580,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1580,
                    "end_frame": 1665,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1665,
                    "end_frame": 1736,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1736,
                    "end_frame": 2384,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2384,
                    "end_frame": 2618,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1736,
                    "end": 2384,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683925,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 102,
                    "end_frame": 510,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 510,
                    "end_frame": 928,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1468,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1468,
                    "end_frame": 1557,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1557,
                    "end_frame": 1627,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1627,
                    "end_frame": 1761,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1761,
                    "end_frame": 2045,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683949,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 361,
                    "end_frame": 674,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 674,
                    "end_frame": 1032,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1302,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1384,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1384,
                    "end_frame": 1480,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1480,
                    "end_frame": 2021,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683979,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 470,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 824,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 824,
                    "end_frame": 1219,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1219,
                    "end_frame": 1482,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1482,
                    "end_frame": 1570,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1570,
                    "end_frame": 1691,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1691,
                    "end_frame": 2019,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684030,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 323,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 829,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 829,
                    "end_frame": 1076,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1336,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1336,
                    "end_frame": 1422,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1758,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1758,
                    "end_frame": 2019,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685045,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 693,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 693,
                    "end_frame": 1044,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1219,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1219,
                    "end_frame": 1285,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1285,
                    "end_frame": 1493,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1493,
                    "end_frame": 2022,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685097,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 360,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 360,
                    "end_frame": 731,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 731,
                    "end_frame": 1108,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1405,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1473,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1473,
                    "end_frame": 1610,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1610,
                    "end_frame": 2084,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685122,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 389,
                    "end_frame": 766,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 766,
                    "end_frame": 1094,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1343,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1343,
                    "end_frame": 1420,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1420,
                    "end_frame": 1637,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1637,
                    "end_frame": 2087,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 413,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 709,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 709,
                    "end_frame": 984,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1275,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1275,
                    "end_frame": 1348,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1348,
                    "end_frame": 1696,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1696,
                    "end_frame": 1950,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 984,
                    "end": 1271,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 685197,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 458,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 458,
                    "end_frame": 854,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1097,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1371,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1371,
                    "end_frame": 1437,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1437,
                    "end_frame": 1635,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1635,
                    "end_frame": 2063,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685234,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 460,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 460,
                    "end_frame": 873,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 873,
                    "end_frame": 1163,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1344,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1344,
                    "end_frame": 1427,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1427,
                    "end_frame": 1648,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1648,
                    "end_frame": 2010,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685479,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 481,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 481,
                    "end_frame": 775,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 775,
                    "end_frame": 973,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1154,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1154,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1497,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1497,
                    "end_frame": 1735,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685525,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 68,
                    "end_frame": 548,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 548,
                    "end_frame": 935,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1132,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 1338,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1338,
                    "end_frame": 1440,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1440,
                    "end_frame": 1750,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1750,
                    "end_frame": 2096,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685682,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 667,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 667,
                    "end_frame": 937,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1232,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1335,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1335,
                    "end_frame": 1549,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1549,
                    "end_frame": 2022,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 937,
                    "end": 1232,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 686024,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 412,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 412,
                    "end_frame": 691,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 691,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1237,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1237,
                    "end_frame": 1327,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1327,
                    "end_frame": 1614,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1614,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686071,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 843,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 843,
                    "end_frame": 1054,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1054,
                    "end_frame": 1164,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 1422,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1657,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686107,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 65,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 907,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1116,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1232,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1494,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1494,
                    "end_frame": 1927,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686154,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 895,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1041,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1140,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1351,
                    "end_frame": 1664,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686196,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 556,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 887,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 887,
                    "end_frame": 1123,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1215,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1215,
                    "end_frame": 1431,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1431,
                    "end_frame": 1826,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 686492,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 306,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 306,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 824,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 824,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 976,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 976,
                    "end_frame": 1213,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1456,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689501,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 570,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 570,
                    "end_frame": 951,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1044,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1140,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1369,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1369,
                    "end_frame": 1654,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687084,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 232,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 232,
                    "end_frame": 394,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 394,
                    "end_frame": 592,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 592,
                    "end_frame": 725,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 725,
                    "end_frame": 828,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 828,
                    "end_frame": 936,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1095,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687168,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 182,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 182,
                    "end_frame": 373,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 373,
                    "end_frame": 592,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 592,
                    "end_frame": 657,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 657,
                    "end_frame": 731,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 731,
                    "end_frame": 830,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 830,
                    "end_frame": 1108,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687245,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 195,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 195,
                    "end_frame": 371,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 609,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 609,
                    "end_frame": 759,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 759,
                    "end_frame": 844,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 844,
                    "end_frame": 938,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1210,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687310,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 218,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 218,
                    "end_frame": 402,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 402,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 737,
                    "end_frame": 825,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 825,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1010,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1203,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687342,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 188,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 188,
                    "end_frame": 333,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 333,
                    "end_frame": 512,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 512,
                    "end_frame": 561,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 561,
                    "end_frame": 644,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 644,
                    "end_frame": 740,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 740,
                    "end_frame": 1150,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687486,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 417,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 417,
                    "end_frame": 646,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 646,
                    "end_frame": 696,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 696,
                    "end_frame": 773,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 773,
                    "end_frame": 885,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1179,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 225,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 225,
                    "end_frame": 404,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 404,
                    "end_frame": 556,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 556,
                    "end_frame": 614,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 614,
                    "end_frame": 702,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 702,
                    "end_frame": 810,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 810,
                    "end_frame": 1113,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 687577,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 416,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 416,
                    "end_frame": 596,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 596,
                    "end_frame": 683,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 683,
                    "end_frame": 746,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 746,
                    "end_frame": 880,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 880,
                    "end_frame": 1102,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688308,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 238,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 238,
                    "end_frame": 438,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 438,
                    "end_frame": 561,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 561,
                    "end_frame": 648,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 648,
                    "end_frame": 723,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 723,
                    "end_frame": 955,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1311,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 723,
                    "end": 955,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 688324,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 208,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 208,
                    "end_frame": 413,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 630,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 630,
                    "end_frame": 678,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 678,
                    "end_frame": 738,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 738,
                    "end_frame": 826,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1028,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 688434,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 235,
                    "end_frame": 390,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 547,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 547,
                    "end_frame": 603,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 603,
                    "end_frame": 666,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 666,
                    "end_frame": 810,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 810,
                    "end_frame": 1058,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 689366,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 429,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 429,
                    "end_frame": 569,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 569,
                    "end_frame": 624,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 624,
                    "end_frame": 703,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 703,
                    "end_frame": 791,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 791,
                    "end_frame": 1288,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 791,
                    "end": 1288,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 689395,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 229,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 229,
                    "end_frame": 405,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 553,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 553,
                    "end_frame": 617,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 617,
                    "end_frame": 727,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 727,
                    "end_frame": 855,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 1212,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 855,
                    "end": 1212,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 689409,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 200,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 200,
                    "end_frame": 348,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
                    "end_frame": 462,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 462,
                    "end_frame": 521,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 521,
                    "end_frame": 671,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 671,
                    "end_frame": 783,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 783,
                    "end_frame": 1061,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692341,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 284,
                    "end_frame": 455,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 455,
                    "end_frame": 598,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 598,
                    "end_frame": 657,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 657,
                    "end_frame": 736,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 736,
                    "end_frame": 877,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 877,
                    "end_frame": 1199,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692350,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 475,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 898,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 898,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1053,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1160,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1516,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 0,
                    "end": 475,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 692399,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 328,
                    "end_frame": 597,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 597,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 837,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 837,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1386,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692490,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 669,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 669,
                    "end_frame": 965,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1084,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1159,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1576,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 293,
                    "end": 669,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 692523,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 483,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 677,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 677,
                    "end_frame": 751,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 751,
                    "end_frame": 836,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 836,
                    "end_frame": 974,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1354,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692596,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 481,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 481,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 645,
                    "end_frame": 720,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 720,
                    "end_frame": 799,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 799,
                    "end_frame": 924,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1196,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 692612,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 554,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 554,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1103,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1103,
                    "end_frame": 1430,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705222,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 91,
                    "end_frame": 529,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 529,
                    "end_frame": 1184,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1638,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1638,
                    "end_frame": 1855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1855,
                    "end_frame": 1955,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1955,
                    "end_frame": 2777,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2777,
                    "end_frame": 3538,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 529,
                    "end": 1184,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 705225,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 97,
                    "end_frame": 649,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 1065,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1423,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1423,
                    "end_frame": 1657,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1657,
                    "end_frame": 1766,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1766,
                    "end_frame": 2145,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2145,
                    "end_frame": 2613,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705228,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 538,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 538,
                    "end_frame": 1065,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1386,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1580,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1580,
                    "end_frame": 1640,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1640,
                    "end_frame": 2100,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2100,
                    "end_frame": 2559,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705250,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 502,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 502,
                    "end_frame": 897,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 897,
                    "end_frame": 1388,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1388,
                    "end_frame": 1525,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1525,
                    "end_frame": 1632,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1632,
                    "end_frame": 1909,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1909,
                    "end_frame": 2813,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705276,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 110,
                    "end_frame": 629,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 629,
                    "end_frame": 1272,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1581,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1581,
                    "end_frame": 1720,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1720,
                    "end_frame": 1805,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1805,
                    "end_frame": 2043,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2043,
                    "end_frame": 2527,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705293,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 613,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 613,
                    "end_frame": 1076,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1487,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 1678,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1678,
                    "end_frame": 1761,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1761,
                    "end_frame": 2072,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2072,
                    "end_frame": 2569,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705312,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 165,
                    "end_frame": 648,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 648,
                    "end_frame": 1166,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1619,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1619,
                    "end_frame": 1865,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1865,
                    "end_frame": 2018,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 2018,
                    "end_frame": 2294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2294,
                    "end_frame": 2866,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705327,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 36,
                    "end_frame": 546,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 1013,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1013,
                    "end_frame": 1330,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1330,
                    "end_frame": 1563,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1563,
                    "end_frame": 1729,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1729,
                    "end_frame": 2169,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2169,
                    "end_frame": 2695,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705343,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 506,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 863,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1260,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1260,
                    "end_frame": 1477,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1477,
                    "end_frame": 1561,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1561,
                    "end_frame": 1834,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1834,
                    "end_frame": 2309,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705364,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 75,
                    "end_frame": 590,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 590,
                    "end_frame": 947,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1249,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1249,
                    "end_frame": 1450,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1537,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1537,
                    "end_frame": 1881,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1881,
                    "end_frame": 2313,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 494,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 494,
                    "end_frame": 947,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1287,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1287,
                    "end_frame": 1503,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1503,
                    "end_frame": 1653,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1653,
                    "end_frame": 2180,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2180,
                    "end_frame": 2708,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705408,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 104,
                    "end_frame": 545,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 545,
                    "end_frame": 980,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1384,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1384,
                    "end_frame": 1633,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1633,
                    "end_frame": 1724,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1724,
                    "end_frame": 2002,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2002,
                    "end_frame": 2433,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705441,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 131,
                    "end_frame": 537,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 537,
                    "end_frame": 910,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1145,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1145,
                    "end_frame": 1320,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1320,
                    "end_frame": 1395,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1395,
                    "end_frame": 1727,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1727,
                    "end_frame": 2287,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705556,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 431,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 431,
                    "end_frame": 753,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 753,
                    "end_frame": 1125,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1286,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1286,
                    "end_frame": 1345,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1345,
                    "end_frame": 1524,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1524,
                    "end_frame": 1894,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705576,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 80,
                    "end_frame": 556,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 915,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1209,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1209,
                    "end_frame": 1394,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1394,
                    "end_frame": 1497,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1497,
                    "end_frame": 1743,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1743,
                    "end_frame": 2450,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705592,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 486,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 486,
                    "end_frame": 880,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 880,
                    "end_frame": 1176,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1292,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1379,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1379,
                    "end_frame": 1677,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1677,
                    "end_frame": 2229,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705603,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 493,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 919,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1286,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1286,
                    "end_frame": 1478,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1478,
                    "end_frame": 1556,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1556,
                    "end_frame": 1873,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1873,
                    "end_frame": 2368,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705616,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 478,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 478,
                    "end_frame": 863,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1258,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1258,
                    "end_frame": 1459,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1459,
                    "end_frame": 1552,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1552,
                    "end_frame": 1867,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1867,
                    "end_frame": 2598,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705652,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 86,
                    "end_frame": 524,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 524,
                    "end_frame": 937,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1429,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1429,
                    "end_frame": 1661,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1661,
                    "end_frame": 1757,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1757,
                    "end_frame": 2074,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2074,
                    "end_frame": 2680,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705681,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 74,
                    "end_frame": 543,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 543,
                    "end_frame": 897,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 897,
                    "end_frame": 1234,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1422,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1500,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1500,
                    "end_frame": 1952,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1952,
                    "end_frame": 2579,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705715,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 106,
                    "end_frame": 522,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 522,
                    "end_frame": 994,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1234,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1410,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1410,
                    "end_frame": 1503,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1503,
                    "end_frame": 1948,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1948,
                    "end_frame": 3076,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705733,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 89,
                    "end_frame": 555,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 555,
                    "end_frame": 886,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1328,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1328,
                    "end_frame": 1527,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1527,
                    "end_frame": 1619,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1619,
                    "end_frame": 2026,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2026,
                    "end_frame": 2452,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 69,
                    "end_frame": 599,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 1083,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1539,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 1718,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1718,
                    "end_frame": 1808,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1808,
                    "end_frame": 2109,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2109,
                    "end_frame": 3054,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705756,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 483,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 842,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 842,
                    "end_frame": 1184,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1491,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1491,
                    "end_frame": 1589,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1589,
                    "end_frame": 1856,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1856,
                    "end_frame": 2493,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705776,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 480,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 480,
                    "end_frame": 762,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 762,
                    "end_frame": 1123,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1256,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1319,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1319,
                    "end_frame": 1632,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1632,
                    "end_frame": 1956,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705791,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 461,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 461,
                    "end_frame": 688,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 688,
                    "end_frame": 926,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1077,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1139,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1384,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1384,
                    "end_frame": 2413,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1384,
                    "end": 2413,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 705824,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 103,
                    "end_frame": 532,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 851,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 851,
                    "end_frame": 1222,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1222,
                    "end_frame": 1387,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1387,
                    "end_frame": 1461,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1461,
                    "end_frame": 1786,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1786,
                    "end_frame": 2393,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 104,
                    "end_frame": 634,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 985,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1310,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1310,
                    "end_frame": 1487,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 1580,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1580,
                    "end_frame": 1893,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1893,
                    "end_frame": 2994,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705905,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
                    "end_frame": 454,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 813,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 813,
                    "end_frame": 1173,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1425,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1425,
                    "end_frame": 1513,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1513,
                    "end_frame": 1952,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1952,
                    "end_frame": 2554,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1513,
                    "end": 1952,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 705925,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 136,
                    "end_frame": 681,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 681,
                    "end_frame": 1069,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1341,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1503,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1503,
                    "end_frame": 1578,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1578,
                    "end_frame": 2396,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2396,
                    "end_frame": 2672,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1578,
                    "end": 2396,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706103,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 154,
                    "end_frame": 598,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 874,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1226,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1417,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1417,
                    "end_frame": 1505,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1505,
                    "end_frame": 1755,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1755,
                    "end_frame": 2242,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706121,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 445,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 728,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 728,
                    "end_frame": 935,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1073,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1148,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1148,
                    "end_frame": 1353,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1353,
                    "end_frame": 1803,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706166,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 70,
                    "end_frame": 418,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 418,
                    "end_frame": 709,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 709,
                    "end_frame": 939,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1136,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1136,
                    "end_frame": 1330,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1330,
                    "end_frame": 1823,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706183,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 473,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 1065,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1330,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1330,
                    "end_frame": 1474,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1570,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1570,
                    "end_frame": 1795,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1795,
                    "end_frame": 2828,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1795,
                    "end": 2828,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706255,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 79,
                    "end_frame": 464,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 743,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 743,
                    "end_frame": 1073,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1382,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1382,
                    "end_frame": 1502,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1502,
                    "end_frame": 1709,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1709,
                    "end_frame": 2307,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706284,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 66,
                    "end_frame": 495,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 782,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 782,
                    "end_frame": 1027,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1177,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1309,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1579,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1579,
                    "end_frame": 2016,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706303,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 243,
                    "end_frame": 679,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 679,
                    "end_frame": 1120,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1473,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1473,
                    "end_frame": 1689,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1689,
                    "end_frame": 1769,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1769,
                    "end_frame": 2088,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2088,
                    "end_frame": 2604,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706331,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
                    "end_frame": 477,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 477,
                    "end_frame": 981,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1411,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1411,
                    "end_frame": 1599,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1599,
                    "end_frame": 1693,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1693,
                    "end_frame": 2007,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2007,
                    "end_frame": 2383,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706350,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 62,
                    "end_frame": 520,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 520,
                    "end_frame": 878,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1201,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1201,
                    "end_frame": 1341,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1414,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1414,
                    "end_frame": 1626,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1626,
                    "end_frame": 1984,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706365,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 740,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 740,
                    "end_frame": 963,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1128,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1128,
                    "end_frame": 1223,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1544,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1544,
                    "end_frame": 2095,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706383,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 441,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 441,
                    "end_frame": 760,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 760,
                    "end_frame": 1012,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1141,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1264,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1264,
                    "end_frame": 1522,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1522,
                    "end_frame": 2018,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706397,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 400,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 400,
                    "end_frame": 756,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 756,
                    "end_frame": 1024,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1188,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1188,
                    "end_frame": 1286,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1286,
                    "end_frame": 1657,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1657,
                    "end_frame": 2155,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706429,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 72,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 926,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1090,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1165,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1165,
                    "end_frame": 1423,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1423,
                    "end_frame": 1857,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706444,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
                    "end_frame": 479,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 479,
                    "end_frame": 853,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 853,
                    "end_frame": 1224,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1224,
                    "end_frame": 1419,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1419,
                    "end_frame": 1519,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1519,
                    "end_frame": 2077,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2077,
                    "end_frame": 2574,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706453,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 130,
                    "end_frame": 513,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 513,
                    "end_frame": 838,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 838,
                    "end_frame": 1119,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1257,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1257,
                    "end_frame": 1337,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1337,
                    "end_frame": 1561,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1561,
                    "end_frame": 1920,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706504,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 744,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 744,
                    "end_frame": 992,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1185,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1185,
                    "end_frame": 1271,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1271,
                    "end_frame": 1823,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1823,
                    "end_frame": 2229,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706528,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 85,
                    "end_frame": 491,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 491,
                    "end_frame": 780,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 780,
                    "end_frame": 1090,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1247,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1318,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1318,
                    "end_frame": 1573,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1573,
                    "end_frame": 2040,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706546,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 482,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 482,
                    "end_frame": 808,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 808,
                    "end_frame": 1065,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1210,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1291,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1291,
                    "end_frame": 1550,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1550,
                    "end_frame": 2043,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706586,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 59,
                    "end_frame": 454,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 764,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 764,
                    "end_frame": 1336,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1336,
                    "end_frame": 1520,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1520,
                    "end_frame": 1665,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1665,
                    "end_frame": 2127,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2127,
                    "end_frame": 2962,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706610,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 445,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 786,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 786,
                    "end_frame": 986,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1118,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1234,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1647,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1647,
                    "end_frame": 2250,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706630,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 440,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 844,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 844,
                    "end_frame": 1135,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1135,
                    "end_frame": 1420,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1420,
                    "end_frame": 1534,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1534,
                    "end_frame": 2164,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2164,
                    "end_frame": 2878,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1534,
                    "end": 2164,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706646,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 768,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 768,
                    "end_frame": 1013,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1013,
                    "end_frame": 1198,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1198,
                    "end_frame": 1337,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1337,
                    "end_frame": 1588,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1588,
                    "end_frame": 2217,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706669,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
                    "end_frame": 426,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 426,
                    "end_frame": 764,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 764,
                    "end_frame": 1160,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1317,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1317,
                    "end_frame": 1463,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1463,
                    "end_frame": 1989,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1989,
                    "end_frame": 2784,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1463,
                    "end": 2784,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706695,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 480,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 480,
                    "end_frame": 926,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1152,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1152,
                    "end_frame": 1290,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1290,
                    "end_frame": 1385,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1953,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1953,
                    "end_frame": 2354,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706709,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 498,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 498,
                    "end_frame": 917,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 917,
                    "end_frame": 1292,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1449,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1449,
                    "end_frame": 1588,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1588,
                    "end_frame": 1854,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1854,
                    "end_frame": 2475,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706736,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 74,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 1055,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1326,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1326,
                    "end_frame": 1449,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1449,
                    "end_frame": 1526,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1526,
                    "end_frame": 1739,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1739,
                    "end_frame": 2128,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706748,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 67,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 780,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 780,
                    "end_frame": 916,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 916,
                    "end_frame": 991,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1228,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1228,
                    "end_frame": 1854,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706766,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
                    "end_frame": 424,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 783,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 783,
                    "end_frame": 1091,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1235,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1331,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1331,
                    "end_frame": 1568,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1568,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706776,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 74,
                    "end_frame": 466,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 466,
                    "end_frame": 774,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 774,
                    "end_frame": 1033,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1205,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1205,
                    "end_frame": 1295,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1295,
                    "end_frame": 1504,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1504,
                    "end_frame": 1856,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706846,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 143,
                    "end_frame": 562,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 562,
                    "end_frame": 851,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 851,
                    "end_frame": 1121,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1121,
                    "end_frame": 1293,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1359,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1359,
                    "end_frame": 1685,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1685,
                    "end_frame": 2178,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706857,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 73,
                    "end_frame": 464,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 826,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1053,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1202,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1202,
                    "end_frame": 1285,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1285,
                    "end_frame": 1531,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1531,
                    "end_frame": 1855,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706887,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 65,
                    "end_frame": 474,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 474,
                    "end_frame": 875,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1094,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1218,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1218,
                    "end_frame": 1316,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1316,
                    "end_frame": 1675,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1675,
                    "end_frame": 2141,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706913,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 116,
                    "end_frame": 552,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 1034,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1325,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1325,
                    "end_frame": 1497,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1497,
                    "end_frame": 1580,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1580,
                    "end_frame": 1841,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1841,
                    "end_frame": 2270,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706921,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 534,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 534,
                    "end_frame": 840,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 840,
                    "end_frame": 1096,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1259,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1259,
                    "end_frame": 1355,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1355,
                    "end_frame": 1651,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1651,
                    "end_frame": 2437,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1651,
                    "end": 2437,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706935,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 419,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 685,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 685,
                    "end_frame": 881,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1381,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1381,
                    "end_frame": 1670,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706949,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 414,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 414,
                    "end_frame": 667,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 667,
                    "end_frame": 909,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1036,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1124,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1299,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1606,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706964,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 109,
                    "end_frame": 499,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 499,
                    "end_frame": 734,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 734,
                    "end_frame": 974,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1092,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1183,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1183,
                    "end_frame": 1428,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1428,
                    "end_frame": 1722,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706984,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 357,
                    "end_frame": 649,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 899,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 899,
                    "end_frame": 1022,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1110,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1308,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1308,
                    "end_frame": 1649,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706998,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 452,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 452,
                    "end_frame": 766,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 766,
                    "end_frame": 993,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1139,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1200,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 1471,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1471,
                    "end_frame": 1856,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707047,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 398,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 398,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 849,
                    "end_frame": 997,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 997,
                    "end_frame": 1089,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1089,
                    "end_frame": 1323,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1323,
                    "end_frame": 2432,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1323,
                    "end": 2432,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 707061,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 619,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 619,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 985,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1092,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1272,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1652,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707077,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 425,
                    "end_frame": 743,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 743,
                    "end_frame": 954,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1096,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1195,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1195,
                    "end_frame": 1395,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1395,
                    "end_frame": 1738,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707089,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 377,
                    "end_frame": 698,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 698,
                    "end_frame": 880,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 880,
                    "end_frame": 1085,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1085,
                    "end_frame": 1182,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1182,
                    "end_frame": 1487,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 1899,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707109,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 710,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 710,
                    "end_frame": 972,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1100,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1172,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 1367,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1367,
                    "end_frame": 1685,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707123,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 430,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 430,
                    "end_frame": 695,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 695,
                    "end_frame": 1033,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1190,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1302,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1587,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1587,
                    "end_frame": 2492,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 382,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 382,
                    "end_frame": 678,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 678,
                    "end_frame": 952,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 952,
                    "end_frame": 1058,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1058,
                    "end_frame": 1126,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1126,
                    "end_frame": 1382,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1382,
                    "end_frame": 1923,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707174,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 66,
                    "end_frame": 439,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 439,
                    "end_frame": 710,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 710,
                    "end_frame": 932,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1055,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1137,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1354,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1354,
                    "end_frame": 1831,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707183,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 417,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 417,
                    "end_frame": 685,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 685,
                    "end_frame": 964,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1118,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1118,
                    "end_frame": 1208,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1415,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1415,
                    "end_frame": 1795,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707192,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 481,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 481,
                    "end_frame": 718,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 718,
                    "end_frame": 1010,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1174,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1174,
                    "end_frame": 1247,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1475,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1475,
                    "end_frame": 1830,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707210,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 647,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 647,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 879,
                    "end_frame": 1056,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1122,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1122,
                    "end_frame": 1298,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1298,
                    "end_frame": 1620,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707217,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 472,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 759,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 759,
                    "end_frame": 1149,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1271,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1271,
                    "end_frame": 1366,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1366,
                    "end_frame": 1722,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1722,
                    "end_frame": 2115,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707230,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 393,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 393,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
                    "end_frame": 866,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 866,
                    "end_frame": 1027,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1095,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1594,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707286,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 517,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 517,
                    "end_frame": 860,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 860,
                    "end_frame": 1130,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1130,
                    "end_frame": 1307,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1392,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1392,
                    "end_frame": 1648,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1648,
                    "end_frame": 1974,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703822,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 237,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 237,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 599,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 599,
                    "end_frame": 727,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 727,
                    "end_frame": 799,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 799,
                    "end_frame": 1059,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1780,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1059,
                    "end": 1780,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703842,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 439,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 439,
                    "end_frame": 583,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 583,
                    "end_frame": 673,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 673,
                    "end_frame": 750,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 750,
                    "end_frame": 1018,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1725,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1018,
                    "end": 1725,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 703874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 254,
                    "end_frame": 408,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 408,
                    "end_frame": 559,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 559,
                    "end_frame": 646,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 646,
                    "end_frame": 752,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 752,
                    "end_frame": 906,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1284,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703894,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 250,
                    "end_frame": 428,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 639,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 639,
                    "end_frame": 704,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 704,
                    "end_frame": 804,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 804,
                    "end_frame": 972,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1438,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703927,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 478,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 478,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 862,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 862,
                    "end_frame": 962,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1141,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1519,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703944,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 263,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 263,
                    "end_frame": 457,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 457,
                    "end_frame": 654,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 654,
                    "end_frame": 755,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 755,
                    "end_frame": 845,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1033,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1477,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703986,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 417,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 417,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 913,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1249,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1249,
                    "end_frame": 1820,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1249,
                    "end": 1820,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704015,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 289,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 860,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 860,
                    "end_frame": 950,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1165,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1165,
                    "end_frame": 1717,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704040,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 304,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 304,
                    "end_frame": 526,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 526,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 726,
                    "end_frame": 852,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 852,
                    "end_frame": 925,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1122,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1122,
                    "end_frame": 1933,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1122,
                    "end": 1933,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704059,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 434,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 847,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 847,
                    "end_frame": 917,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 917,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1603,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1603,
                    "end_frame": 1885,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 983,
                    "end": 1603,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704110,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 355,
                    "end_frame": 575,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 575,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 788,
                    "end_frame": 840,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 840,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1140,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1679,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1140,
                    "end": 1679,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704136,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 272,
                    "end_frame": 464,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 757,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 757,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1160,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1403,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 757,
                    "end": 930,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704157,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 892,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 892,
                    "end_frame": 1034,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1121,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1121,
                    "end_frame": 1352,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1352,
                    "end_frame": 1710,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704186,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 814,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 814,
                    "end_frame": 889,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1076,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1365,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704200,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 515,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 515,
                    "end_frame": 796,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 796,
                    "end_frame": 1034,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1351,
                    "end_frame": 1638,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704218,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 888,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 888,
                    "end_frame": 949,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1033,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1379,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1379,
                    "end_frame": 1900,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704258,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 689,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 689,
                    "end_frame": 737,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 737,
                    "end_frame": 845,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1083,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1347,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704278,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 631,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 631,
                    "end_frame": 708,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 708,
                    "end_frame": 773,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 773,
                    "end_frame": 1138,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1138,
                    "end_frame": 1423,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 773,
                    "end": 1138,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 467,
                    "end_frame": 742,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 742,
                    "end_frame": 804,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 804,
                    "end_frame": 878,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1113,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1768,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1113,
                    "end": 1768,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704401,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 263,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 263,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 764,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 764,
                    "end_frame": 813,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 813,
                    "end_frame": 903,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1190,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1414,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704417,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 319,
                    "end_frame": 521,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 521,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 840,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 840,
                    "end_frame": 912,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1231,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1511,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704534,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 472,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 716,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 716,
                    "end_frame": 776,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 776,
                    "end_frame": 866,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 866,
                    "end_frame": 1055,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1353,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704551,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 373,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 373,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 764,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 764,
                    "end_frame": 851,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 851,
                    "end_frame": 923,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1161,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1510,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704570,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 266,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 523,
                    "end_frame": 812,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 812,
                    "end_frame": 923,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1021,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1021,
                    "end_frame": 1341,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1795,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704659,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 509,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 509,
                    "end_frame": 666,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 666,
                    "end_frame": 771,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 771,
                    "end_frame": 828,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 828,
                    "end_frame": 1039,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1536,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704687,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 251,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 251,
                    "end_frame": 508,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 508,
                    "end_frame": 701,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 701,
                    "end_frame": 789,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 789,
                    "end_frame": 862,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 862,
                    "end_frame": 1143,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1143,
                    "end_frame": 1551,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704715,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 256,
                    "end_frame": 396,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 396,
                    "end_frame": 545,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 545,
                    "end_frame": 636,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 636,
                    "end_frame": 730,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 730,
                    "end_frame": 916,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1291,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704743,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 507,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 507,
                    "end_frame": 759,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 759,
                    "end_frame": 879,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 879,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1204,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1204,
                    "end_frame": 1740,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1204,
                    "end": 1740,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704819,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 58,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 254,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 449,
                    "end_frame": 843,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 843,
                    "end_frame": 1094,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1208,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1401,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1401,
                    "end_frame": 1853,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1401,
                    "end": 1853,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704878,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 335,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 335,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 835,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 835,
                    "end_frame": 957,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1067,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1306,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1306,
                    "end_frame": 1549,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 335,
                    "end": 630,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 705009,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 503,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 503,
                    "end_frame": 692,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 692,
                    "end_frame": 780,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 780,
                    "end_frame": 867,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 867,
                    "end_frame": 1104,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1313,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705027,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 723,
                    "end_frame": 818,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 818,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1259,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1259,
                    "end_frame": 1539,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705050,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 248,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 973,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1046,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1142,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1586,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705091,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 434,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 589,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 589,
                    "end_frame": 666,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 666,
                    "end_frame": 744,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 744,
                    "end_frame": 939,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1202,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707693,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
                    "end_frame": 422,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 422,
                    "end_frame": 590,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 590,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 864,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 864,
                    "end_frame": 995,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1209,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1209,
                    "end_frame": 1735,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1209,
                    "end": 1735,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 707699,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 68,
                    "end_frame": 315,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 315,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 701,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 701,
                    "end_frame": 778,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 778,
                    "end_frame": 874,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1342,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707706,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 278,
                    "end_frame": 480,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 480,
                    "end_frame": 651,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 651,
                    "end_frame": 737,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 737,
                    "end_frame": 841,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 841,
                    "end_frame": 1506,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1506,
                    "end_frame": 1784,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 841,
                    "end": 1506,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 707724,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 75,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 656,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 656,
                    "end_frame": 903,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1016,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1136,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1136,
                    "end_frame": 1645,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1645,
                    "end_frame": 2103,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707751,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 549,
                    "end_frame": 696,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 696,
                    "end_frame": 815,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 815,
                    "end_frame": 908,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1305,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1305,
                    "end_frame": 1542,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 908,
                    "end": 1305,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 707790,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 676,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 676,
                    "end_frame": 764,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 764,
                    "end_frame": 872,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 872,
                    "end_frame": 1071,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1661,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1071,
                    "end": 1661,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 707818,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 268,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 268,
                    "end_frame": 464,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 642,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 642,
                    "end_frame": 748,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 748,
                    "end_frame": 858,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 858,
                    "end_frame": 1275,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1275,
                    "end_frame": 1473,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 858,
                    "end": 1275,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708202,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 461,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 461,
                    "end_frame": 611,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 611,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 734,
                    "end_frame": 836,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 836,
                    "end_frame": 1189,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1189,
                    "end_frame": 1489,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708228,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 414,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 414,
                    "end_frame": 718,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 718,
                    "end_frame": 801,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 801,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1071,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1250,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708256,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
                    "end_frame": 663,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 663,
                    "end_frame": 885,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1089,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1089,
                    "end_frame": 1172,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 1279,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1279,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 1800,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 54,
                    "end": 663,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708287,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 760,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 760,
                    "end_frame": 875,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1005,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1133,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1133,
                    "end_frame": 1344,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708312,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 601,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 601,
                    "end_frame": 685,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 685,
                    "end_frame": 817,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 817,
                    "end_frame": 941,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1207,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708330,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 611,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 611,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 856,
                    "end_frame": 968,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 968,
                    "end_frame": 1184,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1400,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708362,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 617,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 617,
                    "end_frame": 721,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 721,
                    "end_frame": 844,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 844,
                    "end_frame": 1232,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1579,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708380,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 672,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 672,
                    "end_frame": 783,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 783,
                    "end_frame": 910,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1100,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1449,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 278,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 688,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 688,
                    "end_frame": 763,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 763,
                    "end_frame": 874,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1187,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1683,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1187,
                    "end": 1683,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708432,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 479,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 479,
                    "end_frame": 651,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 651,
                    "end_frame": 739,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 739,
                    "end_frame": 817,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 817,
                    "end_frame": 1000,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1159,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708449,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 271,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 835,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 835,
                    "end_frame": 925,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1312,
                    "end_frame": 1605,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 925,
                    "end": 1312,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708463,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 465,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 465,
                    "end_frame": 602,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 602,
                    "end_frame": 669,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 669,
                    "end_frame": 750,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 750,
                    "end_frame": 921,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1509,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 921,
                    "end": 1509,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708480,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 733,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 733,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 821,
                    "end_frame": 967,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1155,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1332,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708547,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 67,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 271,
                    "end_frame": 424,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 556,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 556,
                    "end_frame": 647,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 647,
                    "end_frame": 717,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 717,
                    "end_frame": 905,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 905,
                    "end_frame": 1275,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 905,
                    "end": 1275,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708583,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 63,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 361,
                    "end_frame": 481,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 481,
                    "end_frame": 662,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 662,
                    "end_frame": 756,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 756,
                    "end_frame": 848,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 848,
                    "end_frame": 1017,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1220,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 63,
                    "end": 361,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708606,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 695,
                    "end_frame": 793,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 793,
                    "end_frame": 934,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1094,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1273,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708634,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 323,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 497,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 497,
                    "end_frame": 658,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 658,
                    "end_frame": 762,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 762,
                    "end_frame": 866,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 866,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1355,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708649,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 60,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 675,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 675,
                    "end_frame": 849,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 849,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1291,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1291,
                    "end_frame": 1670,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708662,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 64,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 284,
                    "end_frame": 450,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 450,
                    "end_frame": 661,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 661,
                    "end_frame": 736,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 736,
                    "end_frame": 843,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 843,
                    "end_frame": 1052,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1239,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708670,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 276,
                    "end_frame": 700,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 700,
                    "end_frame": 881,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1474,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1739,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1125,
                    "end": 1474,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708676,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 287,
                    "end_frame": 515,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 515,
                    "end_frame": 657,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 657,
                    "end_frame": 728,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 728,
                    "end_frame": 855,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 855,
                    "end_frame": 991,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1308,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708687,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 707,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 707,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 857,
                    "end_frame": 995,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1116,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1225,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1225,
                    "end_frame": 1531,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 322,
                    "end": 707,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708707,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 519,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 519,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 914,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1034,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1184,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1452,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708721,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 54,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 288,
                    "end_frame": 459,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 459,
                    "end_frame": 630,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 630,
                    "end_frame": 699,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 699,
                    "end_frame": 836,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 836,
                    "end_frame": 955,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1331,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 244,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 244,
                    "end_frame": 432,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 432,
                    "end_frame": 575,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 575,
                    "end_frame": 639,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 639,
                    "end_frame": 732,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 732,
                    "end_frame": 867,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 867,
                    "end_frame": 1233,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708764,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 480,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 480,
                    "end_frame": 665,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 665,
                    "end_frame": 717,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 717,
                    "end_frame": 799,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 799,
                    "end_frame": 1001,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1292,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708781,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 241,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 241,
                    "end_frame": 445,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 644,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 644,
                    "end_frame": 707,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 707,
                    "end_frame": 805,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 805,
                    "end_frame": 994,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1241,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708848,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 44,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 635,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 635,
                    "end_frame": 753,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 753,
                    "end_frame": 839,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 839,
                    "end_frame": 1052,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 1291,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708875,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 715,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 715,
                    "end_frame": 812,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 812,
                    "end_frame": 940,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1127,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1644,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1127,
                    "end": 1644,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708902,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 761,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 761,
                    "end_frame": 848,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 848,
                    "end_frame": 959,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 959,
                    "end_frame": 1114,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1114,
                    "end_frame": 1608,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1114,
                    "end": 1608,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708949,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 591,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 591,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1061,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1237,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1237,
                    "end_frame": 1584,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708968,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 770,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1261,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1261,
                    "end_frame": 1586,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708986,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 287,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 735,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 735,
                    "end_frame": 837,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 837,
                    "end_frame": 930,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1077,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1264,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709098,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 515,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 515,
                    "end_frame": 723,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 723,
                    "end_frame": 794,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 794,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1075,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1699,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1075,
                    "end": 1699,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709114,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 522,
                    "end_frame": 776,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 776,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 986,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1535,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1535,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 986,
                    "end": 1535,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709134,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 263,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 263,
                    "end_frame": 551,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 551,
                    "end_frame": 786,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 786,
                    "end_frame": 853,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 853,
                    "end_frame": 947,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1398,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1398,
                    "end_frame": 1667,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 947,
                    "end": 1398,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709251,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 245,
                    "end_frame": 424,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 705,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 705,
                    "end_frame": 820,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 820,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1762,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 919,
                    "end": 1300,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709302,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 494,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 494,
                    "end_frame": 716,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 716,
                    "end_frame": 794,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 794,
                    "end_frame": 861,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 861,
                    "end_frame": 1360,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1360,
                    "end_frame": 1960,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674623,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 600,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1024,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1193,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1193,
                    "end_frame": 1467,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1467,
                    "end_frame": 1961,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674637,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 910,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1269,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1429,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1429,
                    "end_frame": 1682,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1682,
                    "end_frame": 2445,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 599,
                    "end": 910,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 674706,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 365,
                    "end_frame": 649,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 928,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1086,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1247,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1440,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1440,
                    "end_frame": 2084,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674717,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 715,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 715,
                    "end_frame": 1039,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1039,
                    "end_frame": 1186,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1186,
                    "end_frame": 1424,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1424,
                    "end_frame": 1743,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1743,
                    "end_frame": 2261,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674721,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 420,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 420,
                    "end_frame": 674,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 674,
                    "end_frame": 915,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1179,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1179,
                    "end_frame": 1388,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1388,
                    "end_frame": 1695,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674739,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 350,
                    "end_frame": 639,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 639,
                    "end_frame": 906,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1072,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1211,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1211,
                    "end_frame": 1438,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1438,
                    "end_frame": 1831,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 674772,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 430,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 430,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 885,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1069,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1200,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1334,
                    "end_frame": 2369,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1334,
                    "end": 2369,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675287,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 355,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 879,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 879,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1252,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1602,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675299,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 569,
                    "end_frame": 786,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 786,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1059,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1861,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675483,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 491,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 491,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 916,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1046,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1269,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1269,
                    "end_frame": 1776,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1269,
                    "end": 1776,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675512,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 519,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 519,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1431,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1431,
                    "end_frame": 1913,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675526,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 516,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 516,
                    "end_frame": 692,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 692,
                    "end_frame": 893,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1008,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1008,
                    "end_frame": 1459,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1459,
                    "end_frame": 1782,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675567,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 329,
                    "end_frame": 566,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 566,
                    "end_frame": 768,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 768,
                    "end_frame": 916,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1210,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1421,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675575,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 323,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 820,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 820,
                    "end_frame": 1002,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1002,
                    "end_frame": 1186,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1186,
                    "end_frame": 1299,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1606,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1606,
                    "end_frame": 2022,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 323,
                    "end": 820,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675618,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 636,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 636,
                    "end_frame": 878,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1073,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1201,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1201,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1832,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675621,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 350,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 602,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 1051,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1180,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1361,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1361,
                    "end_frame": 2316,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675718,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 524,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 524,
                    "end_frame": 754,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 754,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 966,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1117,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1117,
                    "end_frame": 1816,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1117,
                    "end": 1816,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675730,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 323,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 323,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 805,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 805,
                    "end_frame": 949,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1056,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1358,
                    "end_frame": 2051,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1358,
                    "end": 2051,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675759,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 460,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 460,
                    "end_frame": 622,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 622,
                    "end_frame": 724,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 724,
                    "end_frame": 865,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 865,
                    "end_frame": 1088,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1088,
                    "end_frame": 2246,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1088,
                    "end": 2246,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675769,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 650,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 650,
                    "end_frame": 795,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 795,
                    "end_frame": 900,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1228,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1228,
                    "end_frame": 1885,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675781,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 825,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 825,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1767,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1767,
                    "end_frame": 2194,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 972,
                    "end": 1767,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675804,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 504,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 504,
                    "end_frame": 732,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 732,
                    "end_frame": 846,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 846,
                    "end_frame": 981,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1431,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1431,
                    "end_frame": 2033,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675829,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 464,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 692,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 692,
                    "end_frame": 792,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 792,
                    "end_frame": 1100,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 2202,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 675862,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 467,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 467,
                    "end_frame": 684,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 684,
                    "end_frame": 768,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 768,
                    "end_frame": 898,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 898,
                    "end_frame": 1101,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1101,
                    "end_frame": 1645,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1101,
                    "end": 1645,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675885,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 722,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 722,
                    "end_frame": 911,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1017,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1127,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1472,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1472,
                    "end_frame": 1954,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 274,
                    "end": 722,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675899,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 496,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 687,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 687,
                    "end_frame": 807,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 807,
                    "end_frame": 886,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1303,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 2033,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1303,
                    "end": 2033,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 675922,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 713,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 713,
                    "end_frame": 849,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 849,
                    "end_frame": 979,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1373,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1373,
                    "end_frame": 2083,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676075,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 459,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 459,
                    "end_frame": 637,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 637,
                    "end_frame": 921,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1381,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1381,
                    "end_frame": 1931,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676093,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 317,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 879,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 879,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1226,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 2248,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1226,
                    "end": 2248,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676119,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 418,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 418,
                    "end_frame": 624,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 624,
                    "end_frame": 855,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 855,
                    "end_frame": 1000,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1168,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1168,
                    "end_frame": 1632,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1632,
                    "end_frame": 1943,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1168,
                    "end": 1632,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676137,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 580,
                    "end_frame": 790,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 790,
                    "end_frame": 869,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 869,
                    "end_frame": 978,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1132,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 2028,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1132,
                    "end": 2028,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676149,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 664,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 664,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 859,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1172,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 2004,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1172,
                    "end": 2004,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676166,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 302,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 302,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 891,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 891,
                    "end_frame": 1084,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1205,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1205,
                    "end_frame": 1374,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1374,
                    "end_frame": 2331,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1374,
                    "end": 2331,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676182,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 712,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 712,
                    "end_frame": 817,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 817,
                    "end_frame": 989,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1128,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1128,
                    "end_frame": 1557,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676193,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 429,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 429,
                    "end_frame": 582,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 582,
                    "end_frame": 732,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 732,
                    "end_frame": 863,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1303,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 1710,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 863,
                    "end": 1303,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676268,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 272,
                    "end_frame": 451,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 451,
                    "end_frame": 671,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 671,
                    "end_frame": 774,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 774,
                    "end_frame": 901,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 901,
                    "end_frame": 1104,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1104,
                    "end": 1851,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 676,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 676,
                    "end_frame": 918,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1136,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1136,
                    "end_frame": 1268,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1268,
                    "end_frame": 1621,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1621,
                    "end_frame": 2171,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676303,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 296,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1031,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1031,
                    "end_frame": 1489,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1489,
                    "end_frame": 2013,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1031,
                    "end": 1489,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676321,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 893,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1082,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1202,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1202,
                    "end_frame": 1336,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1336,
                    "end_frame": 1621,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1621,
                    "end_frame": 2376,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 295,
                    "end": 893,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676339,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 36,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 289,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1043,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1405,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1794,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1043,
                    "end": 1405,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676352,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 513,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 944,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1173,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 1920,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1173,
                    "end": 1920,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676366,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 666,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 666,
                    "end_frame": 797,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 797,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1158,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1913,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676382,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 686,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 686,
                    "end_frame": 820,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 820,
                    "end_frame": 976,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 976,
                    "end_frame": 1150,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1150,
                    "end_frame": 1765,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676403,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 848,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 848,
                    "end_frame": 990,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1117,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1117,
                    "end_frame": 1586,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1586,
                    "end_frame": 1910,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1117,
                    "end": 1586,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676416,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 272,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 858,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 858,
                    "end_frame": 1005,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1321,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1321,
                    "end_frame": 2144,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1005,
                    "end": 1321,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676430,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 308,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 308,
                    "end_frame": 515,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 515,
                    "end_frame": 725,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 725,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1020,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1020,
                    "end_frame": 1180,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1472,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676461,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 263,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 263,
                    "end_frame": 445,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 679,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 679,
                    "end_frame": 810,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 810,
                    "end_frame": 913,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1197,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1197,
                    "end_frame": 1960,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676481,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 703,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 703,
                    "end_frame": 800,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 800,
                    "end_frame": 908,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1237,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1237,
                    "end_frame": 1714,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676493,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 615,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 615,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 788,
                    "end_frame": 920,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1062,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1222,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1222,
                    "end_frame": 1787,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676506,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 298,
                    "end_frame": 507,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 507,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1284,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1759,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1070,
                    "end": 1284,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676535,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 732,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 732,
                    "end_frame": 861,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 861,
                    "end_frame": 960,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1164,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 2308,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676547,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 42,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 276,
                    "end_frame": 501,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 501,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 832,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 832,
                    "end_frame": 930,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1131,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1131,
                    "end_frame": 1950,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676605,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 334,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 334,
                    "end_frame": 598,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 927,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1069,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1228,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1228,
                    "end_frame": 2121,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676618,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 314,
                    "end_frame": 578,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 578,
                    "end_frame": 764,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 764,
                    "end_frame": 860,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 860,
                    "end_frame": 991,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1166,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 2059,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1166,
                    "end": 2059,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676636,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 533,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 533,
                    "end_frame": 735,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 735,
                    "end_frame": 842,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 842,
                    "end_frame": 984,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1153,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1692,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676657,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 310,
                    "end_frame": 524,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 524,
                    "end_frame": 693,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 693,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 808,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1073,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1977,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1073,
                    "end": 1977,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676668,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 472,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 641,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 641,
                    "end_frame": 750,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 750,
                    "end_frame": 888,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1052,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1052,
                    "end_frame": 2041,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1052,
                    "end": 2041,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676712,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 455,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 455,
                    "end_frame": 664,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 664,
                    "end_frame": 825,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 825,
                    "end_frame": 948,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1084,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1705,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676730,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 590,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 590,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 849,
                    "end_frame": 940,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1311,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1311,
                    "end_frame": 2042,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 676767,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 495,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 495,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 906,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1009,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1268,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1268,
                    "end_frame": 1994,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1268,
                    "end": 1994,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676836,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 333,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 886,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 886,
                    "end_frame": 1018,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1179,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1179,
                    "end_frame": 1942,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1179,
                    "end": 1942,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 450,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 450,
                    "end_frame": 626,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 626,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 734,
                    "end_frame": 826,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1024,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1710,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1024,
                    "end": 1710,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676880,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1881,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1254,
                    "end": 1881,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676900,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 602,
                    "end_frame": 792,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 792,
                    "end_frame": 897,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 897,
                    "end_frame": 1012,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1194,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1746,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1194,
                    "end": 1746,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676961,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 432,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 432,
                    "end_frame": 614,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 614,
                    "end_frame": 709,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 709,
                    "end_frame": 807,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 807,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1421,
                    "end_frame": 1827,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 807,
                    "end": 1421,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 676995,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 794,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 794,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1376,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1376,
                    "end_frame": 1740,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 920,
                    "end": 1376,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677022,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 645,
                    "end_frame": 742,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 742,
                    "end_frame": 873,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 873,
                    "end_frame": 1274,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1968,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 873,
                    "end": 1274,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677049,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 437,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 437,
                    "end_frame": 603,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 603,
                    "end_frame": 682,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 682,
                    "end_frame": 795,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 795,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1255,
                    "end_frame": 1810,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 795,
                    "end": 1255,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 677073,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 439,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 439,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 645,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 734,
                    "end_frame": 826,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1253,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1253,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 826,
                    "end": 1253,
                    "description": ""
                },
                {
                    "start": 1253,
                    "end": 1924,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 678691,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 458,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 458,
                    "end_frame": 967,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1394,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1394,
                    "end_frame": 1508,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1699,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1699,
                    "end_frame": 2915,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2915,
                    "end_frame": 3857,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 679409,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 547,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 811,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 811,
                    "end_frame": 1361,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1361,
                    "end_frame": 1482,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1482,
                    "end_frame": 1557,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1557,
                    "end_frame": 2052,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2052,
                    "end_frame": 2372,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1557,
                    "end": 2052,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679869,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 113,
                    "end_frame": 524,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 524,
                    "end_frame": 803,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 803,
                    "end_frame": 1192,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1192,
                    "end_frame": 1336,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1336,
                    "end_frame": 1431,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1431,
                    "end_frame": 1715,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1715,
                    "end_frame": 3309,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1715,
                    "end": 3309,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 679960,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 72,
                    "end_frame": 576,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 576,
                    "end_frame": 978,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1441,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1441,
                    "end_frame": 1718,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1718,
                    "end_frame": 1832,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1832,
                    "end_frame": 2131,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2131,
                    "end_frame": 2552,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 680133,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 308,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 308,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 1019,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1019,
                    "end_frame": 1262,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1373,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1373,
                    "end_frame": 1584,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1584,
                    "end_frame": 1976,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 680191,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 849,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 849,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1057,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1265,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1585,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 680332,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 427,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 427,
                    "end_frame": 707,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 707,
                    "end_frame": 1128,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1128,
                    "end_frame": 1279,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1279,
                    "end_frame": 1365,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1365,
                    "end_frame": 1703,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1703,
                    "end_frame": 2331,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1703,
                    "end": 2331,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 680384,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 65,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 896,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1338,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1338,
                    "end_frame": 1962,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1338,
                    "end": 1962,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 680410,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 1122,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1122,
                    "end_frame": 1654,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1654,
                    "end_frame": 1768,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1768,
                    "end_frame": 1981,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1981,
                    "end_frame": 2993,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1981,
                    "end": 2993,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 680478,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 651,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 651,
                    "end_frame": 1065,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1192,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1192,
                    "end_frame": 1260,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1260,
                    "end_frame": 1437,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1437,
                    "end_frame": 2479,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1437,
                    "end": 2479,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 683954,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 85,
                    "end_frame": 473,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 835,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 835,
                    "end_frame": 1219,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1219,
                    "end_frame": 1372,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1372,
                    "end_frame": 1443,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1443,
                    "end_frame": 1706,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1706,
                    "end_frame": 2151,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684060,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 384,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 384,
                    "end_frame": 701,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 701,
                    "end_frame": 1040,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1201,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1201,
                    "end_frame": 1299,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1674,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1674,
                    "end_frame": 2303,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684796,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 131,
                    "end_frame": 459,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 459,
                    "end_frame": 690,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 690,
                    "end_frame": 1145,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1145,
                    "end_frame": 1262,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1331,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1331,
                    "end_frame": 1728,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1728,
                    "end_frame": 2435,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684813,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 405,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 656,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 656,
                    "end_frame": 921,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1022,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1075,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1290,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1290,
                    "end_frame": 1708,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 684833,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 821,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 821,
                    "end_frame": 1176,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1509,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1509,
                    "end_frame": 1690,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1690,
                    "end_frame": 1775,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1775,
                    "end_frame": 2234,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2234,
                    "end_frame": 2637,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685008,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 803,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 803,
                    "end_frame": 1403,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1403,
                    "end_frame": 1504,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1504,
                    "end_frame": 1629,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1629,
                    "end_frame": 2295,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2295,
                    "end_frame": 4572,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 2295,
                    "end": 4572,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 685065,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 455,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 455,
                    "end_frame": 826,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 826,
                    "end_frame": 1471,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1471,
                    "end_frame": 1735,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1735,
                    "end_frame": 1809,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1809,
                    "end_frame": 2644,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2644,
                    "end_frame": 3183,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1809,
                    "end": 2644,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 685203,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 576,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 576,
                    "end_frame": 920,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1013,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1013,
                    "end_frame": 1102,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1102,
                    "end_frame": 1407,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1407,
                    "end_frame": 2073,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685223,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 92,
                    "end_frame": 478,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 478,
                    "end_frame": 713,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 713,
                    "end_frame": 1178,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1178,
                    "end_frame": 1301,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1301,
                    "end_frame": 1366,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1366,
                    "end_frame": 1813,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1813,
                    "end_frame": 2294,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685245,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 91,
                    "end_frame": 436,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 674,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 674,
                    "end_frame": 1010,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1292,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1358,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1358,
                    "end_frame": 1709,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1709,
                    "end_frame": 2317,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685347,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 453,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 453,
                    "end_frame": 769,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 769,
                    "end_frame": 1544,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1544,
                    "end_frame": 1667,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1667,
                    "end_frame": 1753,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1753,
                    "end_frame": 2194,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2194,
                    "end_frame": 2597,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685372,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 145,
                    "end_frame": 552,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 773,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 773,
                    "end_frame": 1101,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1101,
                    "end_frame": 1230,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1230,
                    "end_frame": 1341,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1748,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1748,
                    "end_frame": 2196,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
                    "end_frame": 413,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 749,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 749,
                    "end_frame": 1071,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1170,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1170,
                    "end_frame": 1238,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1238,
                    "end_frame": 1454,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1454,
                    "end_frame": 1861,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685410,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 77,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 648,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 648,
                    "end_frame": 1111,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1111,
                    "end_frame": 1223,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1309,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1309,
                    "end_frame": 1664,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1664,
                    "end_frame": 2170,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685444,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 172,
                    "end_frame": 496,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 496,
                    "end_frame": 743,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 743,
                    "end_frame": 1014,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1141,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1141,
                    "end_frame": 1194,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1430,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1430,
                    "end_frame": 1897,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685467,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 423,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 676,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 676,
                    "end_frame": 1045,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1164,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 1247,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1482,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1482,
                    "end_frame": 2235,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 685485,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 101,
                    "end_frame": 501,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 501,
                    "end_frame": 771,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 771,
                    "end_frame": 1307,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1439,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1439,
                    "end_frame": 1505,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1505,
                    "end_frame": 1754,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1754,
                    "end_frame": 2431,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1754,
                    "end": 2431,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706550,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 321,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 321,
                    "end_frame": 577,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 577,
                    "end_frame": 770,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 770,
                    "end_frame": 936,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1162,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1162,
                    "end_frame": 1408,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706589,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 424,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 684,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 684,
                    "end_frame": 964,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1076,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1166,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1166,
                    "end_frame": 1325,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1325,
                    "end_frame": 1640,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706600,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 310,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 513,
                    "end_frame": 744,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 744,
                    "end_frame": 846,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 846,
                    "end_frame": 943,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1197,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1197,
                    "end_frame": 1375,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706617,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 61,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 293,
                    "end_frame": 452,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 452,
                    "end_frame": 745,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 745,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1215,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1215,
                    "end_frame": 1489,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706626,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 793,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 793,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1057,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1214,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1214,
                    "end_frame": 1578,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706647,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 50,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 314,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 739,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 739,
                    "end_frame": 839,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 839,
                    "end_frame": 946,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1252,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1545,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706671,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 803,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 803,
                    "end_frame": 924,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1029,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1029,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1654,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706691,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 768,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 768,
                    "end_frame": 974,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1512,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1512,
                    "end_frame": 1747,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1066,
                    "end": 1512,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706704,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 509,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 509,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 972,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1055,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1359,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1359,
                    "end_frame": 1592,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706728,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 457,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 457,
                    "end_frame": 715,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 715,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 951,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1176,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1465,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706762,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 995,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1093,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1093,
                    "end_frame": 1391,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1391,
                    "end_frame": 1781,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706775,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 235,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 708,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 708,
                    "end_frame": 841,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 841,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1152,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1152,
                    "end_frame": 1535,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1152,
                    "end": 1535,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 706789,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 278,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 793,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 793,
                    "end_frame": 900,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 900,
                    "end_frame": 984,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 984,
                    "end_frame": 1278,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1278,
                    "end_frame": 1657,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706798,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1320,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1320,
                    "end_frame": 1668,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706852,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 227,
                    "end_frame": 413,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 413,
                    "end_frame": 904,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 904,
                    "end_frame": 1138,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1138,
                    "end_frame": 1234,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1440,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1440,
                    "end_frame": 1690,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706875,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 254,
                    "end_frame": 427,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 427,
                    "end_frame": 630,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 630,
                    "end_frame": 747,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 747,
                    "end_frame": 845,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 845,
                    "end_frame": 1087,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1087,
                    "end_frame": 1532,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706891,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 71,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 567,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 867,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 867,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1129,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1253,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1253,
                    "end_frame": 1459,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706960,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 659,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 659,
                    "end_frame": 820,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 820,
                    "end_frame": 916,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1146,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1146,
                    "end_frame": 1380,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 706973,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 243,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 243,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 794,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 794,
                    "end_frame": 1071,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1156,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1156,
                    "end_frame": 1375,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1375,
                    "end_frame": 1711,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707118,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 266,
                    "end_frame": 478,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 478,
                    "end_frame": 705,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 705,
                    "end_frame": 844,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 844,
                    "end_frame": 939,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1076,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1388,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707131,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 55,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 879,
                    "end_frame": 977,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1063,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1293,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1526,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707160,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 53,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 492,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 492,
                    "end_frame": 713,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 713,
                    "end_frame": 962,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1043,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1297,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1297,
                    "end_frame": 1664,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707165,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 34,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 477,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 477,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 737,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1027,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1343,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1343,
                    "end_frame": 1737,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707246,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 230,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 230,
                    "end_frame": 434,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 731,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 731,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 889,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1267,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1267,
                    "end_frame": 1595,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 707291,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 79,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 544,
                    "end_frame": 725,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 725,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1328,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1328,
                    "end_frame": 1541,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683338,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 444,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 444,
                    "end_frame": 800,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 800,
                    "end_frame": 1079,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1210,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1304,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1304,
                    "end_frame": 1681,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1681,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683364,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 702,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 702,
                    "end_frame": 957,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1134,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1134,
                    "end_frame": 1173,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1609,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1609,
                    "end_frame": 1889,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683464,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 401,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 401,
                    "end_frame": 662,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 662,
                    "end_frame": 1007,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1161,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1194,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1194,
                    "end_frame": 1477,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1477,
                    "end_frame": 1848,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683481,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 381,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 381,
                    "end_frame": 642,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 642,
                    "end_frame": 920,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1040,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1105,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1325,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1325,
                    "end_frame": 1836,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683547,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 367,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 367,
                    "end_frame": 618,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 618,
                    "end_frame": 977,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1232,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1306,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1306,
                    "end_frame": 1704,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1704,
                    "end_frame": 2098,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683571,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 675,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 675,
                    "end_frame": 1083,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1222,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1222,
                    "end_frame": 1288,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1468,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1468,
                    "end_frame": 1941,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 683642,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 463,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 463,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 1043,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1043,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1380,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1380,
                    "end_frame": 2333,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698006,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 399,
                    "end_frame": 751,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 751,
                    "end_frame": 1082,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1303,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 1376,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1376,
                    "end_frame": 1751,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1751,
                    "end_frame": 2072,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698022,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 284,
                    "end_frame": 429,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 429,
                    "end_frame": 742,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 742,
                    "end_frame": 962,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1455,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1455,
                    "end_frame": 2028,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698033,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 413,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 413,
                    "end_frame": 709,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 709,
                    "end_frame": 985,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1334,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1334,
                    "end_frame": 1423,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1423,
                    "end_frame": 2089,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2089,
                    "end_frame": 2365,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698043,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 389,
                    "end_frame": 581,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 581,
                    "end_frame": 898,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 898,
                    "end_frame": 1062,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1062,
                    "end_frame": 1197,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1197,
                    "end_frame": 1478,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1478,
                    "end_frame": 2241,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698050,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 298,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 298,
                    "end_frame": 576,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 576,
                    "end_frame": 933,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 933,
                    "end_frame": 1298,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1298,
                    "end_frame": 1377,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1377,
                    "end_frame": 1684,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1684,
                    "end_frame": 2063,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698058,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 407,
                    "end_frame": 699,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 699,
                    "end_frame": 989,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 989,
                    "end_frame": 1228,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1228,
                    "end_frame": 1290,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1290,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1593,
                    "end_frame": 1896,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698074,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 328,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 709,
                    "end_frame": 1090,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1290,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1290,
                    "end_frame": 1383,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1383,
                    "end_frame": 1756,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1756,
                    "end_frame": 2648,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698094,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 297,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 494,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 829,
                    "end_frame": 1307,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1307,
                    "end_frame": 1396,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1396,
                    "end_frame": 1743,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1743,
                    "end_frame": 3267,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698185,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 227,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 474,
                    "end_frame": 864,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 864,
                    "end_frame": 990,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 990,
                    "end_frame": 1061,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1874,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1874,
                    "end_frame": 3165,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698209,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 301,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 599,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 833,
                    "end_frame": 1255,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1255,
                    "end_frame": 1361,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1361,
                    "end_frame": 1570,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1570,
                    "end_frame": 1882,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 833,
                    "end": 1255,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 698312,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 257,
                    "end_frame": 444,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 444,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 737,
                    "end_frame": 973,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 973,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1050,
                    "end_frame": 1777,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1777,
                    "end_frame": 2406,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698467,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 271,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 509,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 743,
                    "end_frame": 1055,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1055,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1132,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1301,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698518,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 203,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 203,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 480,
                    "end_frame": 746,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 746,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 943,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1041,
                    "end_frame": 1196,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1196,
                    "end_frame": 1835,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698592,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 494,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 494,
                    "end_frame": 736,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 736,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1386,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1965,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698638,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 241,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 241,
                    "end_frame": 425,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 425,
                    "end_frame": 649,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 649,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 922,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 922,
                    "end_frame": 1104,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1623,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698676,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 207,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 207,
                    "end_frame": 378,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 378,
                    "end_frame": 640,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 640,
                    "end_frame": 767,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 767,
                    "end_frame": 840,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 840,
                    "end_frame": 1047,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1587,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698708,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 572,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 572,
                    "end_frame": 780,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 780,
                    "end_frame": 951,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1073,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1242,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1582,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698755,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 247,
                    "end_frame": 418,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 418,
                    "end_frame": 626,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 626,
                    "end_frame": 866,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 866,
                    "end_frame": 973,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1092,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1739,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698195,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 270,
                    "end_frame": 530,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 530,
                    "end_frame": 778,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 778,
                    "end_frame": 873,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 873,
                    "end_frame": 926,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1200,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 1662,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698264,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 607,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 607,
                    "end_frame": 891,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 891,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1090,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1381,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1381,
                    "end_frame": 1809,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698287,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 316,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 549,
                    "end_frame": 758,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 758,
                    "end_frame": 862,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 862,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1189,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1189,
                    "end_frame": 1847,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698304,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 287,
                    "end_frame": 538,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 538,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 849,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 849,
                    "end_frame": 932,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1277,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1277,
                    "end_frame": 1763,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698313,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 247,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 731,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 731,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1276,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1276,
                    "end_frame": 1697,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698320,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 714,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 714,
                    "end_frame": 811,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 811,
                    "end_frame": 883,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 883,
                    "end_frame": 1155,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1571,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698352,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 228,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 228,
                    "end_frame": 516,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 516,
                    "end_frame": 888,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1077,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1377,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1377,
                    "end_frame": 1817,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698422,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 304,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 304,
                    "end_frame": 554,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 554,
                    "end_frame": 912,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 912,
                    "end_frame": 988,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 988,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1346,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1346,
                    "end_frame": 1796,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698435,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 739,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 739,
                    "end_frame": 826,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 826,
                    "end_frame": 889,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1181,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1703,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698473,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 261,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 791,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 791,
                    "end_frame": 879,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 879,
                    "end_frame": 960,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1282,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1655,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698524,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 306,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 306,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 845,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 845,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1137,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1910,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698527,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 559,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 559,
                    "end_frame": 784,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 784,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 1025,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1363,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1363,
                    "end_frame": 1796,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698541,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 328,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1026,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1090,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1411,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1411,
                    "end_frame": 1810,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698593,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 545,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 545,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 920,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1343,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1343,
                    "end_frame": 1651,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698612,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 464,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 464,
                    "end_frame": 807,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 807,
                    "end_frame": 890,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 890,
                    "end_frame": 990,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1764,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698619,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 605,
                    "end_frame": 893,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1008,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1008,
                    "end_frame": 1092,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1424,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1424,
                    "end_frame": 1743,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698628,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 314,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 782,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 782,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 901,
                    "end_frame": 972,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1242,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1732,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698663,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 286,
                    "end_frame": 504,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 504,
                    "end_frame": 862,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 862,
                    "end_frame": 953,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 953,
                    "end_frame": 1047,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1595,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698710,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 845,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 845,
                    "end_frame": 986,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1184,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1654,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698713,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 875,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 875,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1069,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1397,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1397,
                    "end_frame": 1831,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698752,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 598,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 969,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1081,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1152,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1152,
                    "end_frame": 1457,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1457,
                    "end_frame": 1951,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698757,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 295,
                    "end_frame": 509,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 509,
                    "end_frame": 777,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 777,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 981,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1273,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1273,
                    "end_frame": 1601,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698803,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 581,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 581,
                    "end_frame": 850,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 850,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1296,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1296,
                    "end_frame": 1707,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698871,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 304,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 304,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 774,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 774,
                    "end_frame": 880,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 880,
                    "end_frame": 951,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 951,
                    "end_frame": 1173,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1173,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698918,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 301,
                    "end_frame": 503,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 503,
                    "end_frame": 942,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1067,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1067,
                    "end_frame": 1150,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1150,
                    "end_frame": 1496,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1496,
                    "end_frame": 1861,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 698947,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 544,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 544,
                    "end_frame": 947,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1070,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1160,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1491,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1491,
                    "end_frame": 2008,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 699004,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 326,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 326,
                    "end_frame": 493,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 493,
                    "end_frame": 867,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 867,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1008,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1008,
                    "end_frame": 1379,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1379,
                    "end_frame": 1843,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701667,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 285,
                    "end_frame": 487,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 487,
                    "end_frame": 753,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 753,
                    "end_frame": 885,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 885,
                    "end_frame": 942,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1183,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1183,
                    "end_frame": 1462,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701693,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 1015,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1161,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1226,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1476,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1476,
                    "end_frame": 1875,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701711,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 639,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 639,
                    "end_frame": 936,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1086,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1156,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1156,
                    "end_frame": 1500,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1500,
                    "end_frame": 1795,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701750,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 562,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 562,
                    "end_frame": 917,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 917,
                    "end_frame": 1042,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1124,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1448,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1448,
                    "end_frame": 1906,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701770,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 319,
                    "end_frame": 519,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 519,
                    "end_frame": 786,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 786,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 942,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1242,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1655,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701780,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 328,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 848,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 848,
                    "end_frame": 994,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1054,
                    "end_frame": 1432,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1432,
                    "end_frame": 1761,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 350,
                    "end_frame": 628,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 628,
                    "end_frame": 932,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1058,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1058,
                    "end_frame": 1136,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1136,
                    "end_frame": 1445,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1445,
                    "end_frame": 1729,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701873,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 379,
                    "end_frame": 649,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 890,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 890,
                    "end_frame": 1016,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1413,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1413,
                    "end_frame": 1741,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701924,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 569,
                    "end_frame": 777,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 777,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 977,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1264,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1264,
                    "end_frame": 1715,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701951,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 991,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1161,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1272,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1696,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1696,
                    "end_frame": 2341,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701962,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 633,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 633,
                    "end_frame": 874,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1007,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1089,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1089,
                    "end_frame": 1370,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1370,
                    "end_frame": 1716,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701975,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 411,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 411,
                    "end_frame": 693,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 693,
                    "end_frame": 1029,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1029,
                    "end_frame": 1140,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1235,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1235,
                    "end_frame": 1553,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1553,
                    "end_frame": 2330,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 701990,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 366,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 366,
                    "end_frame": 654,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 654,
                    "end_frame": 1034,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1158,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1249,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1249,
                    "end_frame": 1617,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1617,
                    "end_frame": 2008,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702024,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 1026,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1134,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1134,
                    "end_frame": 1215,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1215,
                    "end_frame": 1542,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1542,
                    "end_frame": 2041,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702035,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 382,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 382,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 1078,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1078,
                    "end_frame": 1226,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1304,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1304,
                    "end_frame": 1869,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1869,
                    "end_frame": 2153,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702072,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 935,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1061,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1127,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1579,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1579,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702100,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 619,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 619,
                    "end_frame": 953,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 953,
                    "end_frame": 1097,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1097,
                    "end_frame": 1210,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1505,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1505,
                    "end_frame": 1947,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702113,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 589,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 589,
                    "end_frame": 939,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1055,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1158,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1518,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1518,
                    "end_frame": 2264,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1518,
                    "end": 2264,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 702128,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 725,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 725,
                    "end_frame": 812,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 812,
                    "end_frame": 908,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1213,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1594,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702252,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 364,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 602,
                    "end_frame": 817,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 817,
                    "end_frame": 911,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 911,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1251,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1251,
                    "end_frame": 1853,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702263,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 7,
                    "end_frame": 381,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 381,
                    "end_frame": 616,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 616,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 865,
                    "end_frame": 976,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 976,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1376,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1376,
                    "end_frame": 1694,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702274,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 381,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 381,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 845,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 845,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1033,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1377,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1377,
                    "end_frame": 1850,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702290,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 360,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 360,
                    "end_frame": 551,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 551,
                    "end_frame": 847,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 847,
                    "end_frame": 956,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1044,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1373,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1373,
                    "end_frame": 1838,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702300,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 556,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 890,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 890,
                    "end_frame": 1016,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1112,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1112,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1908,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702315,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 611,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 611,
                    "end_frame": 952,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 952,
                    "end_frame": 1072,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1163,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1520,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1520,
                    "end_frame": 2029,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702330,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 804,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 804,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 988,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 988,
                    "end_frame": 1266,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1575,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702351,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 974,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1129,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1227,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1227,
                    "end_frame": 1473,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1473,
                    "end_frame": 1759,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702381,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 361,
                    "end_frame": 559,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 559,
                    "end_frame": 817,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 817,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1019,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1019,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1421,
                    "end_frame": 1867,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702395,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 14,
                    "end_frame": 373,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 373,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 981,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1064,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1155,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1583,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1583,
                    "end_frame": 2079,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702446,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 521,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 521,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 853,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 853,
                    "end_frame": 916,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1213,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1608,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702459,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 349,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 721,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 721,
                    "end_frame": 819,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 819,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1256,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1523,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702487,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 590,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 590,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 977,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1049,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1049,
                    "end_frame": 1373,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1373,
                    "end_frame": 1822,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 502,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 502,
                    "end_frame": 793,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 793,
                    "end_frame": 892,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 892,
                    "end_frame": 982,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 982,
                    "end_frame": 1258,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1258,
                    "end_frame": 1510,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702525,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 350,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 350,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 872,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 872,
                    "end_frame": 985,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1350,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1350,
                    "end_frame": 1705,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702537,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 815,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 815,
                    "end_frame": 905,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 905,
                    "end_frame": 1024,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1310,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1310,
                    "end_frame": 1600,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702570,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 832,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 832,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1405,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 2047,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702599,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 518,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 518,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 819,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 819,
                    "end_frame": 925,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1250,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1250,
                    "end_frame": 1660,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702617,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 403,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 806,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 806,
                    "end_frame": 906,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 906,
                    "end_frame": 1009,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1732,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702627,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 779,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 779,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 991,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1316,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1316,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702649,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 816,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 816,
                    "end_frame": 929,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1312,
                    "end_frame": 1787,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702792,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 384,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 384,
                    "end_frame": 641,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 641,
                    "end_frame": 902,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1083,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1177,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1434,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1434,
                    "end_frame": 1759,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702810,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 694,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 694,
                    "end_frame": 944,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1068,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1068,
                    "end_frame": 1181,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1512,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1512,
                    "end_frame": 1888,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702842,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 643,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 643,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1479,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1479,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702858,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 812,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 812,
                    "end_frame": 929,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1110,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1428,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1428,
                    "end_frame": 1734,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702876,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 332,
                    "end_frame": 596,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1004,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1004,
                    "end_frame": 1270,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1270,
                    "end_frame": 1539,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702888,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 385,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 979,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1072,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1387,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1387,
                    "end_frame": 1711,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 702903,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 357,
                    "end_frame": 625,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 625,
                    "end_frame": 838,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 838,
                    "end_frame": 995,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 995,
                    "end_frame": 1094,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1094,
                    "end_frame": 1409,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1409,
                    "end_frame": 1844,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703486,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 314,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 470,
                    "end_frame": 810,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 810,
                    "end_frame": 891,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 891,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1010,
                    "end_frame": 1247,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1247,
                    "end_frame": 1582,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703500,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 359,
                    "end_frame": 585,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 585,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 853,
                    "end_frame": 961,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 961,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1082,
                    "end_frame": 1344,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1344,
                    "end_frame": 1914,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703568,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 329,
                    "end_frame": 550,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 550,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 809,
                    "end_frame": 946,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 946,
                    "end_frame": 1050,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1775,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1775,
                    "end_frame": 2035,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703579,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 338,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 556,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 802,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 941,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1307,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1307,
                    "end_frame": 1643,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703601,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 354,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 559,
                    "end_frame": 852,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 852,
                    "end_frame": 987,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 987,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1081,
                    "end_frame": 1374,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1374,
                    "end_frame": 1751,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 291,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 291,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 444,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 645,
                    "end_frame": 751,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 751,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 895,
                    "end_frame": 1075,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1075,
                    "end_frame": 1333,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703641,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 330,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 330,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 485,
                    "end_frame": 911,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 911,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1005,
                    "end_frame": 1103,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1103,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1262,
                    "end_frame": 1622,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703659,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 340,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 593,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 807,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 938,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1036,
                    "end_frame": 1332,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1332,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703715,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 295,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 295,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 457,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 749,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 871,
                    "end_frame": 971,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 971,
                    "end_frame": 1185,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1185,
                    "end_frame": 1647,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703806,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 346,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 346,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 510,
                    "end_frame": 803,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 803,
                    "end_frame": 912,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 912,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 988,
                    "end_frame": 1123,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1123,
                    "end_frame": 1565,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703832,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1005,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1183,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1183,
                    "end_frame": 1492,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 703864,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 310,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 985,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1181,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1450,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704010,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 292,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 292,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 540,
                    "end_frame": 722,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 722,
                    "end_frame": 842,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 842,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1177,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1449,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704067,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 338,
                    "end_frame": 583,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 583,
                    "end_frame": 839,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 839,
                    "end_frame": 1053,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1188,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1188,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1645,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704083,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 303,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 512,
                    "end_frame": 690,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 690,
                    "end_frame": 843,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 843,
                    "end_frame": 941,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1261,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1261,
                    "end_frame": 1568,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704105,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 312,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 678,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 678,
                    "end_frame": 800,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 800,
                    "end_frame": 922,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 922,
                    "end_frame": 1187,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1549,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704140,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 307,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 751,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 751,
                    "end_frame": 858,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 858,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1243,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1243,
                    "end_frame": 1631,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704239,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 314,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 869,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 869,
                    "end_frame": 980,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 1701,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704285,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 354,
                    "end_frame": 562,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 562,
                    "end_frame": 810,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 810,
                    "end_frame": 896,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1009,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1303,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 1604,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704318,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 307,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 536,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 883,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 883,
                    "end_frame": 1014,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1347,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1347,
                    "end_frame": 1735,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704353,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 305,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 565,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 843,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 843,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1334,
                    "end_frame": 1777,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704372,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 385,
                    "end_frame": 624,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 624,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 809,
                    "end_frame": 876,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 876,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1366,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1366,
                    "end_frame": 1642,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704430,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 333,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 602,
                    "end_frame": 776,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 776,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 887,
                    "end_frame": 1007,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1286,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1286,
                    "end_frame": 1630,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704487,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 357,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 599,
                    "end_frame": 774,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 774,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 987,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1284,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1800,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704527,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 372,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 372,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 794,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 794,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1034,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1426,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1426,
                    "end_frame": 1694,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704791,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 584,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 584,
                    "end_frame": 782,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 782,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 1048,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1488,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1488,
                    "end_frame": 1804,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704810,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 570,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 570,
                    "end_frame": 722,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 722,
                    "end_frame": 798,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 798,
                    "end_frame": 927,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1288,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1588,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704837,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 307,
                    "end_frame": 537,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 537,
                    "end_frame": 720,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 720,
                    "end_frame": 822,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 822,
                    "end_frame": 953,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 953,
                    "end_frame": 1301,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1301,
                    "end_frame": 1730,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704860,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 815,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 815,
                    "end_frame": 975,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1305,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1305,
                    "end_frame": 1849,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704879,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 327,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 327,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 712,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 712,
                    "end_frame": 819,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 819,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1292,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1938,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704901,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 344,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 344,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 775,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 775,
                    "end_frame": 888,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1047,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1385,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1792,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704920,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 9,
                    "end_frame": 303,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 303,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 867,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 867,
                    "end_frame": 960,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1259,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1259,
                    "end_frame": 1524,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704945,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 309,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 309,
                    "end_frame": 520,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 520,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 818,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 818,
                    "end_frame": 963,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1320,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1320,
                    "end_frame": 1605,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704960,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 523,
                    "end_frame": 687,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 687,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 916,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1201,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1201,
                    "end_frame": 1547,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704995,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 572,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 572,
                    "end_frame": 736,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 736,
                    "end_frame": 831,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 831,
                    "end_frame": 939,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1195,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1195,
                    "end_frame": 1515,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705029,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 659,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 659,
                    "end_frame": 770,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 770,
                    "end_frame": 865,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 865,
                    "end_frame": 1205,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1205,
                    "end_frame": 1518,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705054,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 470,
                    "end_frame": 687,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 687,
                    "end_frame": 794,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 794,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1150,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1150,
                    "end_frame": 1481,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705130,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 329,
                    "end_frame": 509,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 509,
                    "end_frame": 705,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 705,
                    "end_frame": 786,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 786,
                    "end_frame": 908,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1332,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1332,
                    "end_frame": 1582,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705148,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 329,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 329,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 663,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 663,
                    "end_frame": 748,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 748,
                    "end_frame": 854,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1144,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1144,
                    "end_frame": 1539,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704641,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 231,
                    "end_frame": 423,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 771,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 771,
                    "end_frame": 872,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 872,
                    "end_frame": 969,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 969,
                    "end_frame": 1549,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1549,
                    "end_frame": 1814,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 969,
                    "end": 1549,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704657,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 188,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 188,
                    "end_frame": 370,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 370,
                    "end_frame": 522,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 522,
                    "end_frame": 656,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 656,
                    "end_frame": 757,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 757,
                    "end_frame": 1157,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1157,
                    "end_frame": 1523,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 757,
                    "end": 1157,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704703,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 228,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 228,
                    "end_frame": 400,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 400,
                    "end_frame": 593,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 593,
                    "end_frame": 765,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 765,
                    "end_frame": 869,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1145,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1145,
                    "end_frame": 1580,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704717,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 245,
                    "end_frame": 447,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 447,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 756,
                    "end_frame": 894,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 894,
                    "end_frame": 989,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1653,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1653,
                    "end_frame": 1981,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 989,
                    "end": 1653,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704736,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 456,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 710,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 710,
                    "end_frame": 814,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 814,
                    "end_frame": 938,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1255,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1255,
                    "end_frame": 1560,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 938,
                    "end": 1255,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704751,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 480,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 480,
                    "end_frame": 685,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 685,
                    "end_frame": 812,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 812,
                    "end_frame": 949,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 949,
                    "end_frame": 1284,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1284,
                    "end_frame": 1586,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 949,
                    "end": 1284,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704773,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 229,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 229,
                    "end_frame": 403,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 617,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 617,
                    "end_frame": 756,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 756,
                    "end_frame": 858,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 858,
                    "end_frame": 1070,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1344,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704800,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 242,
                    "end_frame": 412,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 412,
                    "end_frame": 601,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 601,
                    "end_frame": 691,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 691,
                    "end_frame": 758,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 758,
                    "end_frame": 993,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1577,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 993,
                    "end": 1577,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704822,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 221,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 221,
                    "end_frame": 406,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 406,
                    "end_frame": 686,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 686,
                    "end_frame": 790,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 790,
                    "end_frame": 869,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1519,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1519,
                    "end_frame": 1841,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704836,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 216,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 216,
                    "end_frame": 375,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 375,
                    "end_frame": 739,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 739,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1089,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1089,
                    "end_frame": 1543,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1543,
                    "end_frame": 1843,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704859,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 227,
                    "end_frame": 408,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 408,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1012,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1662,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1662,
                    "end_frame": 1910,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704880,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 194,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 194,
                    "end_frame": 405,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 608,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 608,
                    "end_frame": 744,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 744,
                    "end_frame": 822,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 822,
                    "end_frame": 1024,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1024,
                    "end_frame": 1668,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1024,
                    "end": 1668,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 704912,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 231,
                    "end_frame": 410,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 410,
                    "end_frame": 630,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 630,
                    "end_frame": 726,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 726,
                    "end_frame": 800,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 800,
                    "end_frame": 1120,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1286,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704937,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 223,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 223,
                    "end_frame": 405,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 626,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 626,
                    "end_frame": 745,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 745,
                    "end_frame": 813,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 813,
                    "end_frame": 1471,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1471,
                    "end_frame": 1908,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704963,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 250,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 660,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 660,
                    "end_frame": 771,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 771,
                    "end_frame": 860,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 860,
                    "end_frame": 1389,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1389,
                    "end_frame": 1720,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 704982,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 236,
                    "end_frame": 428,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 601,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 601,
                    "end_frame": 700,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 700,
                    "end_frame": 790,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 790,
                    "end_frame": 1112,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1112,
                    "end_frame": 1386,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705006,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 226,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 226,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 468,
                    "end_frame": 681,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 681,
                    "end_frame": 854,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 854,
                    "end_frame": 911,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1144,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1144,
                    "end_frame": 1468,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705024,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 220,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 220,
                    "end_frame": 367,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 367,
                    "end_frame": 539,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 539,
                    "end_frame": 629,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 629,
                    "end_frame": 707,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 707,
                    "end_frame": 995,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1240,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705072,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 248,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 440,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 645,
                    "end_frame": 756,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 756,
                    "end_frame": 830,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 830,
                    "end_frame": 1223,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1432,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 705094,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 423,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 423,
                    "end_frame": 659,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 659,
                    "end_frame": 768,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 768,
                    "end_frame": 840,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 840,
                    "end_frame": 1359,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1359,
                    "end_frame": 1675,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708158,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 299,
                    "end_frame": 849,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 849,
                    "end_frame": 1072,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1072,
                    "end_frame": 1287,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1287,
                    "end_frame": 1516,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1516,
                    "end_frame": 2015,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2015,
                    "end_frame": 2477,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 299,
                    "end": 849,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708183,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 305,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 305,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 847,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 847,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1189,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1189,
                    "end_frame": 1621,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1621,
                    "end_frame": 2297,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1621,
                    "end": 2297,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708198,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 272,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 272,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 934,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1134,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1134,
                    "end_frame": 1526,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1526,
                    "end_frame": 1817,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708237,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 909,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1093,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1093,
                    "end_frame": 1265,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1531,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1531,
                    "end_frame": 1849,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708260,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 331,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 331,
                    "end_frame": 633,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 633,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1060,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1060,
                    "end_frame": 1299,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1623,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708275,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 274,
                    "end_frame": 535,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 535,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 901,
                    "end_frame": 1071,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1589,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708292,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 550,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 550,
                    "end_frame": 777,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 777,
                    "end_frame": 909,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1479,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1479,
                    "end_frame": 1756,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708339,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 567,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 567,
                    "end_frame": 771,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 771,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1042,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1758,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1758,
                    "end_frame": 2067,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708356,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 310,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 310,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 569,
                    "end_frame": 813,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 813,
                    "end_frame": 970,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1544,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1544,
                    "end_frame": 1878,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708379,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 703,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 703,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1223,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1223,
                    "end_frame": 1387,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1387,
                    "end_frame": 1992,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1992,
                    "end_frame": 2282,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708394,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 582,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 582,
                    "end_frame": 796,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 796,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1088,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1088,
                    "end_frame": 1498,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1498,
                    "end_frame": 1766,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708412,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 258,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 258,
                    "end_frame": 498,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 498,
                    "end_frame": 784,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 784,
                    "end_frame": 942,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1075,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1075,
                    "end_frame": 1540,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1540,
                    "end_frame": 1883,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708452,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 289,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 522,
                    "end_frame": 818,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 818,
                    "end_frame": 962,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1367,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1367,
                    "end_frame": 1654,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708484,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 318,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 318,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 875,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1169,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1169,
                    "end_frame": 1413,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1413,
                    "end_frame": 1678,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708521,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 916,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1090,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1239,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1239,
                    "end_frame": 1675,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1675,
                    "end_frame": 1976,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708552,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 651,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 651,
                    "end_frame": 853,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 853,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1127,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1127,
                    "end_frame": 1627,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1627,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708569,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 333,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 602,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1057,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1278,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1278,
                    "end_frame": 1699,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708589,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 316,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 640,
                    "end_frame": 1140,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1140,
                    "end_frame": 1288,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1288,
                    "end_frame": 1434,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1434,
                    "end_frame": 2057,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 2057,
                    "end_frame": 2339,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708598,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 537,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 537,
                    "end_frame": 731,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 731,
                    "end_frame": 852,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 852,
                    "end_frame": 999,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 999,
                    "end_frame": 1607,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1607,
                    "end_frame": 2164,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1607,
                    "end": 2164,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708607,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 307,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 307,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 833,
                    "end_frame": 980,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1079,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1515,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1515,
                    "end_frame": 2015,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708614,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1023,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1115,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1115,
                    "end_frame": 1605,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1605,
                    "end_frame": 1855,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708631,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 476,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 476,
                    "end_frame": 818,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 818,
                    "end_frame": 964,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1056,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1451,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1451,
                    "end_frame": 1765,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708644,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 263,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 263,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 488,
                    "end_frame": 772,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 772,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1000,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1412,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1412,
                    "end_frame": 1721,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708657,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 281,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 281,
                    "end_frame": 508,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 508,
                    "end_frame": 761,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 761,
                    "end_frame": 907,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1849,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708671,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 275,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 769,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 769,
                    "end_frame": 901,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 901,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1432,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1432,
                    "end_frame": 1915,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708688,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 282,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 282,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 512,
                    "end_frame": 1040,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1193,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1193,
                    "end_frame": 1443,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1443,
                    "end_frame": 1823,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1823,
                    "end_frame": 2104,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 512,
                    "end": 1040,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 708703,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 312,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 312,
                    "end_frame": 543,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 543,
                    "end_frame": 827,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 827,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1148,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1148,
                    "end_frame": 1523,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1523,
                    "end_frame": 1874,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708719,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 526,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 526,
                    "end_frame": 800,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 800,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1046,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1257,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1257,
                    "end_frame": 1616,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708732,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 520,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 520,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1051,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1671,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1671,
                    "end_frame": 1967,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708742,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 556,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 1085,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1085,
                    "end_frame": 1189,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1189,
                    "end_frame": 1307,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1614,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1614,
                    "end_frame": 2078,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708754,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 555,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 555,
                    "end_frame": 874,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1106,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1106,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1689,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708769,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 289,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 289,
                    "end_frame": 471,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 471,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 858,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 858,
                    "end_frame": 971,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1210,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1210,
                    "end_frame": 1512,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708780,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 271,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 912,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1026,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1131,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1131,
                    "end_frame": 1543,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1543,
                    "end_frame": 1790,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708789,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 500,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 500,
                    "end_frame": 805,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 805,
                    "end_frame": 936,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1063,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1351,
                    "end_frame": 1589,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708804,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 449,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 837,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 837,
                    "end_frame": 955,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1411,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1411,
                    "end_frame": 1675,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708829,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 291,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 291,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 553,
                    "end_frame": 798,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 798,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1298,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1298,
                    "end_frame": 1574,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708838,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 279,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 718,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 718,
                    "end_frame": 840,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 840,
                    "end_frame": 956,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1137,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1563,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708857,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 503,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 503,
                    "end_frame": 724,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 724,
                    "end_frame": 851,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 851,
                    "end_frame": 943,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1214,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1214,
                    "end_frame": 1575,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708871,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 279,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 759,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 759,
                    "end_frame": 863,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 863,
                    "end_frame": 955,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1260,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1260,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708885,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 11,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 265,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 702,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 702,
                    "end_frame": 804,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 804,
                    "end_frame": 875,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 875,
                    "end_frame": 1084,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1366,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708905,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 290,
                    "end_frame": 539,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 539,
                    "end_frame": 867,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 867,
                    "end_frame": 970,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1457,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1457,
                    "end_frame": 1741,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708922,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 300,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 300,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 737,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 737,
                    "end_frame": 851,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 851,
                    "end_frame": 947,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1422,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709042,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 280,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 280,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 549,
                    "end_frame": 936,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1064,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1153,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1415,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1415,
                    "end_frame": 2208,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709059,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 297,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 297,
                    "end_frame": 506,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 506,
                    "end_frame": 716,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 716,
                    "end_frame": 842,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 842,
                    "end_frame": 964,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1612,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1612,
                    "end_frame": 1896,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709078,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 455,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 455,
                    "end_frame": 671,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 671,
                    "end_frame": 791,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 791,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1346,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1346,
                    "end_frame": 1599,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709091,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 534,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 534,
                    "end_frame": 877,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 877,
                    "end_frame": 1001,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1120,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1419,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1419,
                    "end_frame": 1681,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709124,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 273,
                    "end_frame": 476,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 476,
                    "end_frame": 698,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 698,
                    "end_frame": 803,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 803,
                    "end_frame": 910,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1416,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1416,
                    "end_frame": 1639,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709140,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 503,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 503,
                    "end_frame": 728,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 728,
                    "end_frame": 830,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 830,
                    "end_frame": 924,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1593,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 436,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 698,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 698,
                    "end_frame": 800,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 800,
                    "end_frame": 879,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 879,
                    "end_frame": 1209,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1209,
                    "end_frame": 1526,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709169,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 235,
                    "end_frame": 439,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 439,
                    "end_frame": 678,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 678,
                    "end_frame": 806,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 806,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 921,
                    "end_frame": 1240,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1240,
                    "end_frame": 1462,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709189,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 264,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 264,
                    "end_frame": 472,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 472,
                    "end_frame": 673,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 673,
                    "end_frame": 777,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 777,
                    "end_frame": 876,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 876,
                    "end_frame": 1297,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1297,
                    "end_frame": 1507,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709205,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 679,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 679,
                    "end_frame": 813,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 813,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1297,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1297,
                    "end_frame": 1510,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709221,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 278,
                    "end_frame": 502,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 502,
                    "end_frame": 678,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 678,
                    "end_frame": 798,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 798,
                    "end_frame": 889,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1197,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1197,
                    "end_frame": 1460,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709233,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 801,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 801,
                    "end_frame": 923,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1252,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1490,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709246,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 244,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 244,
                    "end_frame": 436,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 825,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 825,
                    "end_frame": 912,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 912,
                    "end_frame": 1492,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1492,
                    "end_frame": 1895,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1492,
                    "end": 1895,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709258,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 240,
                    "end_frame": 411,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 411,
                    "end_frame": 616,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 616,
                    "end_frame": 699,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 699,
                    "end_frame": 787,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 787,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1414,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709272,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 287,
                    "end_frame": 479,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 479,
                    "end_frame": 736,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 736,
                    "end_frame": 832,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 832,
                    "end_frame": 958,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1341,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1544,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709290,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 255,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 255,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 808,
                    "end_frame": 902,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1543,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1543,
                    "end_frame": 1721,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709305,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 242,
                    "end_frame": 456,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 647,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 647,
                    "end_frame": 767,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 767,
                    "end_frame": 876,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 876,
                    "end_frame": 1345,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1345,
                    "end_frame": 1713,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709313,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 233,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 233,
                    "end_frame": 438,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 438,
                    "end_frame": 660,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 660,
                    "end_frame": 761,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 761,
                    "end_frame": 854,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1059,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1292,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709328,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 286,
                    "end_frame": 483,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 775,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 775,
                    "end_frame": 908,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 908,
                    "end_frame": 994,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1265,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1265,
                    "end_frame": 1503,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709339,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 419,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 686,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 686,
                    "end_frame": 773,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 773,
                    "end_frame": 895,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 895,
                    "end_frame": 1323,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1323,
                    "end_frame": 1601,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708254,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 384,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 384,
                    "end_frame": 618,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 618,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 788,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1371,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1371,
                    "end_frame": 1807,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708272,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 389,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 389,
                    "end_frame": 694,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 694,
                    "end_frame": 960,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1109,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1109,
                    "end_frame": 1229,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1478,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1478,
                    "end_frame": 1831,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708289,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 378,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 378,
                    "end_frame": 647,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 647,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 957,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 957,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1054,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1654,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708305,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 385,
                    "end_frame": 623,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 623,
                    "end_frame": 843,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 843,
                    "end_frame": 978,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1091,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1091,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1757,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708325,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 445,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 690,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 690,
                    "end_frame": 911,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 911,
                    "end_frame": 1041,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1231,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1231,
                    "end_frame": 1555,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1555,
                    "end_frame": 1899,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708341,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 793,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 793,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1074,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1074,
                    "end_frame": 1362,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1362,
                    "end_frame": 1715,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708359,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 21,
                    "end_frame": 462,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 462,
                    "end_frame": 727,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 727,
                    "end_frame": 1079,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1079,
                    "end_frame": 1199,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1199,
                    "end_frame": 1328,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1328,
                    "end_frame": 1691,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1691,
                    "end_frame": 2125,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708376,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 399,
                    "end_frame": 650,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 650,
                    "end_frame": 860,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 860,
                    "end_frame": 975,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1471,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1471,
                    "end_frame": 1898,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708389,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 364,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 608,
                    "end_frame": 918,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1021,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1021,
                    "end_frame": 1137,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1452,
                    "end_frame": 1816,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708417,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 356,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 356,
                    "end_frame": 601,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 601,
                    "end_frame": 767,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 767,
                    "end_frame": 860,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 860,
                    "end_frame": 963,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1415,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1415,
                    "end_frame": 1931,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708433,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 399,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 962,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1062,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1177,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1177,
                    "end_frame": 1614,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1614,
                    "end_frame": 2058,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708448,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 417,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 417,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 843,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 843,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1083,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1463,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1463,
                    "end_frame": 1802,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708459,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 560,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 560,
                    "end_frame": 750,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 750,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 971,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1373,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1373,
                    "end_frame": 1776,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 366,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 366,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 861,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 861,
                    "end_frame": 974,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 974,
                    "end_frame": 1083,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1425,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1425,
                    "end_frame": 1841,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708491,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 613,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 613,
                    "end_frame": 796,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 796,
                    "end_frame": 914,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1066,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1394,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1394,
                    "end_frame": 1742,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708504,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 391,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 391,
                    "end_frame": 629,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 629,
                    "end_frame": 876,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 876,
                    "end_frame": 991,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1105,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1463,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1463,
                    "end_frame": 1911,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708525,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 357,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 797,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 797,
                    "end_frame": 919,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1058,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1058,
                    "end_frame": 1370,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1370,
                    "end_frame": 1797,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708543,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 32,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 631,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 631,
                    "end_frame": 821,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 821,
                    "end_frame": 927,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1055,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1385,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1714,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708706,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 385,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 820,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 820,
                    "end_frame": 905,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 905,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1294,
                    "end_frame": 1528,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708731,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 741,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 741,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 859,
                    "end_frame": 961,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 961,
                    "end_frame": 1280,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1280,
                    "end_frame": 1628,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708747,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1305,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1305,
                    "end_frame": 1688,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708759,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 357,
                    "end_frame": 594,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 594,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 968,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 968,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1425,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1425,
                    "end_frame": 1821,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708772,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 361,
                    "end_frame": 563,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 1009,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1009,
                    "end_frame": 1129,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1129,
                    "end_frame": 1224,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1224,
                    "end_frame": 1544,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1544,
                    "end_frame": 1914,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708779,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 352,
                    "end_frame": 591,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 591,
                    "end_frame": 815,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 815,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1041,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1332,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1332,
                    "end_frame": 1621,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708788,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 400,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 400,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 791,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 791,
                    "end_frame": 882,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 882,
                    "end_frame": 989,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1274,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1628,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708797,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 324,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 324,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 512,
                    "end_frame": 739,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 739,
                    "end_frame": 814,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 814,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1205,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1205,
                    "end_frame": 1591,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708801,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 571,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 875,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 875,
                    "end_frame": 993,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 993,
                    "end_frame": 1291,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1291,
                    "end_frame": 1648,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708811,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 815,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 815,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 995,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1349,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1349,
                    "end_frame": 1642,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708824,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 521,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 521,
                    "end_frame": 738,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 738,
                    "end_frame": 820,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 820,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1158,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1525,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708827,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 369,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 369,
                    "end_frame": 647,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 647,
                    "end_frame": 877,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 877,
                    "end_frame": 975,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 975,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1390,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1390,
                    "end_frame": 1763,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708836,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 572,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 572,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 859,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 859,
                    "end_frame": 950,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1248,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1248,
                    "end_frame": 1604,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708844,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 586,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 586,
                    "end_frame": 789,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 789,
                    "end_frame": 895,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 895,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1222,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1222,
                    "end_frame": 1577,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708851,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 680,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 680,
                    "end_frame": 943,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1057,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1057,
                    "end_frame": 1163,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1482,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1482,
                    "end_frame": 1898,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708864,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 378,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 378,
                    "end_frame": 635,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 635,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 894,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 894,
                    "end_frame": 988,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 988,
                    "end_frame": 1272,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1632,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708876,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 341,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 341,
                    "end_frame": 566,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 566,
                    "end_frame": 815,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 815,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1025,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1025,
                    "end_frame": 1302,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1798,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708903,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 607,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 607,
                    "end_frame": 910,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 910,
                    "end_frame": 1006,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1434,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1434,
                    "end_frame": 1835,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708920,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 640,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 908,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1295,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1295,
                    "end_frame": 1646,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708937,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 383,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 383,
                    "end_frame": 636,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 636,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 925,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1069,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1385,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1910,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708951,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 319,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 319,
                    "end_frame": 564,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 564,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 856,
                    "end_frame": 939,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1570,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708958,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 364,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 364,
                    "end_frame": 673,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 673,
                    "end_frame": 865,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 865,
                    "end_frame": 987,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1379,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1379,
                    "end_frame": 1739,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708971,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 877,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 877,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1266,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1623,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708980,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 532,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 532,
                    "end_frame": 1070,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1187,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1187,
                    "end_frame": 1304,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1304,
                    "end_frame": 1638,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1638,
                    "end_frame": 2088,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 708994,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
                    "end_frame": 962,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1073,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1073,
                    "end_frame": 1213,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1213,
                    "end_frame": 1524,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1524,
                    "end_frame": 1893,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709009,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 820,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 820,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 928,
                    "end_frame": 1047,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1047,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1312,
                    "end_frame": 1615,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709045,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 322,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 322,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 800,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 800,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1299,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1299,
                    "end_frame": 1634,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709061,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 392,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 392,
                    "end_frame": 654,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 654,
                    "end_frame": 885,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 885,
                    "end_frame": 987,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1090,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1370,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1370,
                    "end_frame": 1681,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709079,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 353,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 547,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 826,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 826,
                    "end_frame": 929,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1214,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1214,
                    "end_frame": 1569,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709092,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 608,
                    "end_frame": 824,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 824,
                    "end_frame": 924,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1022,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1323,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1323,
                    "end_frame": 1909,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709108,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 410,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 410,
                    "end_frame": 654,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 654,
                    "end_frame": 842,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 842,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1366,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1366,
                    "end_frame": 1746,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709126,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 643,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 643,
                    "end_frame": 1000,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1000,
                    "end_frame": 1109,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1109,
                    "end_frame": 1196,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1196,
                    "end_frame": 1501,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1501,
                    "end_frame": 1767,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709143,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 851,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 851,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1294,
                    "end_frame": 1662,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709159,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 349,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 580,
                    "end_frame": 791,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 791,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1347,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1347,
                    "end_frame": 1678,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709170,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 337,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 337,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 851,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 851,
                    "end_frame": 977,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 977,
                    "end_frame": 1083,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1427,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1427,
                    "end_frame": 1730,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709187,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 365,
                    "end_frame": 598,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 598,
                    "end_frame": 837,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 837,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1061,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1061,
                    "end_frame": 1388,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1388,
                    "end_frame": 1794,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709203,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 345,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 345,
                    "end_frame": 593,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 593,
                    "end_frame": 763,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 763,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 855,
                    "end_frame": 946,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1236,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1236,
                    "end_frame": 1622,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709219,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 629,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 629,
                    "end_frame": 836,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 836,
                    "end_frame": 939,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1059,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1362,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1362,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709231,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 394,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 394,
                    "end_frame": 613,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 613,
                    "end_frame": 790,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 790,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 871,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1644,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709245,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 342,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 342,
                    "end_frame": 545,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 545,
                    "end_frame": 753,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 753,
                    "end_frame": 887,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 887,
                    "end_frame": 979,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1278,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1278,
                    "end_frame": 1613,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709255,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 361,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 361,
                    "end_frame": 587,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 587,
                    "end_frame": 782,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 782,
                    "end_frame": 874,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 874,
                    "end_frame": 1015,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1313,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1313,
                    "end_frame": 1684,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709266,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 602,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 602,
                    "end_frame": 824,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 824,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1055,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1055,
                    "end_frame": 1382,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1382,
                    "end_frame": 1824,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709282,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 877,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 877,
                    "end_frame": 981,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 981,
                    "end_frame": 1292,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1703,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709303,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 349,
                    "end_frame": 545,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 545,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 804,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 804,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1181,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1181,
                    "end_frame": 1586,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709363,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 346,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 346,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 924,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 924,
                    "end_frame": 1017,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1017,
                    "end_frame": 1303,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 1601,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709376,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 347,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 347,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 755,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 755,
                    "end_frame": 843,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 843,
                    "end_frame": 952,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 952,
                    "end_frame": 1229,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1229,
                    "end_frame": 1524,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709387,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 325,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 325,
                    "end_frame": 568,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 568,
                    "end_frame": 747,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 747,
                    "end_frame": 856,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 856,
                    "end_frame": 971,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1277,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1277,
                    "end_frame": 1596,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709397,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 546,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 546,
                    "end_frame": 730,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 730,
                    "end_frame": 830,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 830,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1191,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1191,
                    "end_frame": 1567,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709405,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 349,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 349,
                    "end_frame": 608,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 608,
                    "end_frame": 900,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1051,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1184,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1184,
                    "end_frame": 1541,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1541,
                    "end_frame": 1979,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709429,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 355,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 552,
                    "end_frame": 728,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 728,
                    "end_frame": 822,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 822,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1182,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1182,
                    "end_frame": 1662,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709445,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 351,
                    "end_frame": 606,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 606,
                    "end_frame": 765,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 765,
                    "end_frame": 868,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 868,
                    "end_frame": 970,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1590,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709459,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 315,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 315,
                    "end_frame": 531,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 531,
                    "end_frame": 870,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 870,
                    "end_frame": 938,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1027,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1312,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1312,
                    "end_frame": 1634,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709476,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 328,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 328,
                    "end_frame": 556,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 556,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 908,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 908,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1321,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1321,
                    "end_frame": 1757,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709498,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 387,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 387,
                    "end_frame": 625,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 625,
                    "end_frame": 956,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 956,
                    "end_frame": 1056,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1167,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1167,
                    "end_frame": 1480,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1480,
                    "end_frame": 1837,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709515,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 320,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 320,
                    "end_frame": 542,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 542,
                    "end_frame": 808,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 808,
                    "end_frame": 899,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 899,
                    "end_frame": 1001,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1001,
                    "end_frame": 1271,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1271,
                    "end_frame": 1641,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709531,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 357,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 357,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 923,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1030,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1321,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1321,
                    "end_frame": 1765,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709552,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 359,
                    "end_frame": 596,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 882,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1358,
                    "end_frame": 1795,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709568,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 354,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 354,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 784,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 784,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1032,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1334,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1334,
                    "end_frame": 1716,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709585,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 344,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 344,
                    "end_frame": 642,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 642,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 973,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1087,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1087,
                    "end_frame": 1385,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1834,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709611,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 348,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 348,
                    "end_frame": 597,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 597,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 932,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1038,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1038,
                    "end_frame": 1386,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1786,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709635,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 595,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 595,
                    "end_frame": 799,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 799,
                    "end_frame": 930,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1295,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1295,
                    "end_frame": 1696,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709650,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 355,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 355,
                    "end_frame": 593,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 593,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 898,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 898,
                    "end_frame": 990,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 990,
                    "end_frame": 1300,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1300,
                    "end_frame": 1729,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709665,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 360,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 360,
                    "end_frame": 628,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 628,
                    "end_frame": 824,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 824,
                    "end_frame": 926,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1018,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1286,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1286,
                    "end_frame": 1635,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709695,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 339,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 339,
                    "end_frame": 565,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 565,
                    "end_frame": 837,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 837,
                    "end_frame": 937,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1028,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1323,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1323,
                    "end_frame": 1830,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709713,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 615,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 615,
                    "end_frame": 934,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1042,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1144,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1144,
                    "end_frame": 1478,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1478,
                    "end_frame": 1907,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709728,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 381,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 381,
                    "end_frame": 663,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 663,
                    "end_frame": 835,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 835,
                    "end_frame": 944,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1044,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1375,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1375,
                    "end_frame": 1742,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709746,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 340,
                    "end_frame": 550,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 550,
                    "end_frame": 733,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 733,
                    "end_frame": 836,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 836,
                    "end_frame": 932,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1244,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1244,
                    "end_frame": 1676,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709780,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 337,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 337,
                    "end_frame": 596,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 596,
                    "end_frame": 800,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 800,
                    "end_frame": 893,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 893,
                    "end_frame": 989,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1808,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709791,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 337,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 337,
                    "end_frame": 593,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 593,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 1053,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1053,
                    "end_frame": 1155,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1475,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1475,
                    "end_frame": 1869,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709805,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 373,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 373,
                    "end_frame": 633,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 633,
                    "end_frame": 822,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 822,
                    "end_frame": 916,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1012,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1341,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1341,
                    "end_frame": 1735,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709820,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 338,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 338,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 744,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 744,
                    "end_frame": 866,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 866,
                    "end_frame": 967,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1272,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1855,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709834,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 405,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 649,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 649,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 986,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1104,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1413,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1413,
                    "end_frame": 1888,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709849,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 1147,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1147,
                    "end_frame": 1307,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1422,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1794,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1794,
                    "end_frame": 2196,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709865,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 624,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 624,
                    "end_frame": 857,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 857,
                    "end_frame": 979,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 979,
                    "end_frame": 1102,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1102,
                    "end_frame": 1420,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1420,
                    "end_frame": 1785,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709885,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 363,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 790,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 790,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 903,
                    "end_frame": 1027,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1410,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1410,
                    "end_frame": 1877,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709906,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 358,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 569,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1033,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1033,
                    "end_frame": 1144,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1144,
                    "end_frame": 1514,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1514,
                    "end_frame": 1984,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709954,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 729,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 729,
                    "end_frame": 826,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 826,
                    "end_frame": 932,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1172,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1172,
                    "end_frame": 1555,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710015,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 283,
                    "end_frame": 492,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 492,
                    "end_frame": 672,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 672,
                    "end_frame": 821,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 821,
                    "end_frame": 900,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1175,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1175,
                    "end_frame": 1515,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710032,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 250,
                    "end_frame": 442,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 442,
                    "end_frame": 655,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 655,
                    "end_frame": 762,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 762,
                    "end_frame": 886,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 886,
                    "end_frame": 1104,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1289,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710048,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 454,
                    "end_frame": 637,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 637,
                    "end_frame": 735,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 735,
                    "end_frame": 829,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 1135,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1135,
                    "end_frame": 1412,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710073,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 257,
                    "end_frame": 512,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 512,
                    "end_frame": 735,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 735,
                    "end_frame": 857,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 857,
                    "end_frame": 933,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 933,
                    "end_frame": 1079,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1079,
                    "end_frame": 1445,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710084,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 233,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 233,
                    "end_frame": 429,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 429,
                    "end_frame": 614,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 614,
                    "end_frame": 728,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 728,
                    "end_frame": 793,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 793,
                    "end_frame": 941,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 941,
                    "end_frame": 1322,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710097,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 283,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 283,
                    "end_frame": 479,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 479,
                    "end_frame": 756,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 756,
                    "end_frame": 871,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 871,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 983,
                    "end_frame": 1251,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1251,
                    "end_frame": 1564,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710116,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 250,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 428,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 616,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 710,
                    "end_frame": 828,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 828,
                    "end_frame": 1233,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1233,
                    "end_frame": 1458,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710128,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 248,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 446,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 707,
                    "end_frame": 810,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 810,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 912,
                    "end_frame": 1295,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1295,
                    "end_frame": 1852,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": [
                {
                    "start": 1295,
                    "end": 1852,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 710148,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 244,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 469,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 720,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 827,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 920,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1182,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710165,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 251,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 465,
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                {
                    "start_frame": 635,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 762,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 875,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1157,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710185,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 259,
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                {
                    "start_frame": 486,
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                {
                    "start_frame": 706,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 800,
                    "end_frame": 937,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 937,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1133,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710205,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 517,
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                {
                    "start_frame": 947,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1089,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1196,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1423,
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            ],
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                {
                    "start": 517,
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                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 710223,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
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                {
                    "start_frame": 762,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 881,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 971,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1211,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710235,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 513,
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                {
                    "start_frame": 761,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 859,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 959,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710251,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                    "start_frame": 241,
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                {
                    "start_frame": 461,
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                {
                    "start_frame": 686,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 784,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 897,
                    "end_frame": 1207,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1207,
                    "end_frame": 1382,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710273,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 343,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 343,
                    "end_frame": 561,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 561,
                    "end_frame": 787,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 787,
                    "end_frame": 884,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 884,
                    "end_frame": 1006,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1513,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710291,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 316,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 316,
                    "end_frame": 541,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 541,
                    "end_frame": 929,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1029,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1029,
                    "end_frame": 1139,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1349,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1349,
                    "end_frame": 1597,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710312,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 257,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 449,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 695,
                    "end_frame": 785,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 785,
                    "end_frame": 874,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 874,
                    "end_frame": 1142,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1367,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710333,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 250,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 250,
                    "end_frame": 444,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 444,
                    "end_frame": 673,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 673,
                    "end_frame": 773,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 773,
                    "end_frame": 878,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 878,
                    "end_frame": 1139,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1411,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710350,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 271,
                    "end_frame": 456,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 456,
                    "end_frame": 638,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 638,
                    "end_frame": 738,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 738,
                    "end_frame": 860,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 860,
                    "end_frame": 1195,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1195,
                    "end_frame": 1485,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710373,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 294,
                    "end_frame": 527,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 527,
                    "end_frame": 863,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 863,
                    "end_frame": 970,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 970,
                    "end_frame": 1161,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1161,
                    "end_frame": 1401,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1401,
                    "end_frame": 1665,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 279,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 279,
                    "end_frame": 514,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 514,
                    "end_frame": 844,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 844,
                    "end_frame": 955,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1081,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1081,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1460,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710406,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 470,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 470,
                    "end_frame": 732,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 732,
                    "end_frame": 839,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 839,
                    "end_frame": 971,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1208,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1208,
                    "end_frame": 1473,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710417,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 241,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 241,
                    "end_frame": 457,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 457,
                    "end_frame": 657,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 657,
                    "end_frame": 781,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 781,
                    "end_frame": 907,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 907,
                    "end_frame": 1146,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1146,
                    "end_frame": 1363,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710444,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 271,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 271,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 482,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 809,
                    "end_frame": 929,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 929,
                    "end_frame": 1017,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1017,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1663,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710463,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 230,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 230,
                    "end_frame": 547,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 547,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 726,
                    "end_frame": 852,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 852,
                    "end_frame": 937,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 937,
                    "end_frame": 1330,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1330,
                    "end_frame": 1610,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710477,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 27,
                    "end_frame": 238,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 238,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 563,
                    "end_frame": 892,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 892,
                    "end_frame": 987,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 987,
                    "end_frame": 1127,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1127,
                    "end_frame": 1320,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1320,
                    "end_frame": 1846,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710511,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 226,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 226,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 417,
                    "end_frame": 650,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 650,
                    "end_frame": 760,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 760,
                    "end_frame": 901,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 901,
                    "end_frame": 1092,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1092,
                    "end_frame": 1296,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710523,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 209,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 209,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 446,
                    "end_frame": 634,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 634,
                    "end_frame": 734,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 734,
                    "end_frame": 856,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 856,
                    "end_frame": 1083,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1083,
                    "end_frame": 1386,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710539,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 231,
                    "end_frame": 415,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 415,
                    "end_frame": 624,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 624,
                    "end_frame": 710,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 710,
                    "end_frame": 795,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 795,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1324,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710564,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 245,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 484,
                    "end_frame": 743,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 743,
                    "end_frame": 905,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 905,
                    "end_frame": 999,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 999,
                    "end_frame": 1318,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1318,
                    "end_frame": 1659,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710581,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 476,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 476,
                    "end_frame": 715,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 715,
                    "end_frame": 848,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 848,
                    "end_frame": 944,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 944,
                    "end_frame": 1205,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1205,
                    "end_frame": 1657,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710649,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 240,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 240,
                    "end_frame": 475,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 475,
                    "end_frame": 697,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 697,
                    "end_frame": 819,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 819,
                    "end_frame": 925,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1230,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1230,
                    "end_frame": 1491,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710669,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 238,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 238,
                    "end_frame": 420,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 420,
                    "end_frame": 648,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 648,
                    "end_frame": 926,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1054,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1054,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 1725,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710689,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 236,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 236,
                    "end_frame": 511,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 511,
                    "end_frame": 781,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 781,
                    "end_frame": 904,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 904,
                    "end_frame": 1026,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1026,
                    "end_frame": 1211,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1211,
                    "end_frame": 1915,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710720,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 256,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 256,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 488,
                    "end_frame": 704,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 704,
                    "end_frame": 812,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 812,
                    "end_frame": 919,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1064,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1471,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709377,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 242,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 488,
                    "end_frame": 682,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 682,
                    "end_frame": 804,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 804,
                    "end_frame": 896,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1179,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1179,
                    "end_frame": 1367,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709390,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 253,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 253,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 473,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 805,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 805,
                    "end_frame": 926,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 926,
                    "end_frame": 1318,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1318,
                    "end_frame": 1614,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709396,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 488,
                    "end_frame": 701,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 701,
                    "end_frame": 818,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 818,
                    "end_frame": 927,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 927,
                    "end_frame": 1254,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1515,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709406,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 504,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 504,
                    "end_frame": 774,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 774,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1046,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1046,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1605,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709418,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 231,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 231,
                    "end_frame": 469,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 469,
                    "end_frame": 721,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 721,
                    "end_frame": 883,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 883,
                    "end_frame": 998,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 998,
                    "end_frame": 1345,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1345,
                    "end_frame": 1600,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709444,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 235,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 235,
                    "end_frame": 428,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 693,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 693,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 808,
                    "end_frame": 934,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 934,
                    "end_frame": 1377,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1377,
                    "end_frame": 1597,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709460,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 449,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 449,
                    "end_frame": 702,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 702,
                    "end_frame": 844,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 844,
                    "end_frame": 938,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1086,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1433,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709496,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 419,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 589,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 589,
                    "end_frame": 693,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 693,
                    "end_frame": 789,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 789,
                    "end_frame": 1120,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1120,
                    "end_frame": 1356,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709510,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 248,
                    "end_frame": 479,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 479,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 973,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 973,
                    "end_frame": 1071,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1071,
                    "end_frame": 1520,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1520,
                    "end_frame": 1803,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709529,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 18,
                    "end_frame": 252,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 252,
                    "end_frame": 441,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 441,
                    "end_frame": 651,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 651,
                    "end_frame": 763,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 763,
                    "end_frame": 847,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 847,
                    "end_frame": 1360,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1360,
                    "end_frame": 1974,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709541,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 218,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 218,
                    "end_frame": 397,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 672,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 672,
                    "end_frame": 784,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 784,
                    "end_frame": 869,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 869,
                    "end_frame": 1216,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1216,
                    "end_frame": 1591,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709559,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 459,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 459,
                    "end_frame": 642,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 642,
                    "end_frame": 716,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 716,
                    "end_frame": 918,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1486,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1486,
                    "end_frame": 1956,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709572,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 248,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 761,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 761,
                    "end_frame": 870,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 870,
                    "end_frame": 961,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 961,
                    "end_frame": 1131,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1131,
                    "end_frame": 1374,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709595,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 223,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 223,
                    "end_frame": 386,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 609,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 609,
                    "end_frame": 742,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 742,
                    "end_frame": 838,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 838,
                    "end_frame": 1473,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1473,
                    "end_frame": 1914,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709607,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 215,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 215,
                    "end_frame": 415,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 415,
                    "end_frame": 622,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 622,
                    "end_frame": 713,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 713,
                    "end_frame": 815,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 815,
                    "end_frame": 1228,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1228,
                    "end_frame": 1530,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709622,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 211,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 211,
                    "end_frame": 396,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 396,
                    "end_frame": 616,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 616,
                    "end_frame": 694,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 694,
                    "end_frame": 784,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 784,
                    "end_frame": 929,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1158,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709644,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 218,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 218,
                    "end_frame": 438,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 438,
                    "end_frame": 676,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 676,
                    "end_frame": 757,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 757,
                    "end_frame": 868,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 868,
                    "end_frame": 1158,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1158,
                    "end_frame": 1330,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709666,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 277,
                    "end_frame": 458,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 458,
                    "end_frame": 687,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 687,
                    "end_frame": 846,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 846,
                    "end_frame": 968,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 968,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1421,
                    "end_frame": 1846,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709682,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 501,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 501,
                    "end_frame": 702,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 702,
                    "end_frame": 816,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 816,
                    "end_frame": 962,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1137,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1137,
                    "end_frame": 1489,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709701,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 248,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 248,
                    "end_frame": 487,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 487,
                    "end_frame": 695,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 695,
                    "end_frame": 799,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 799,
                    "end_frame": 915,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1104,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1365,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709718,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 247,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 247,
                    "end_frame": 445,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 634,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 634,
                    "end_frame": 769,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 769,
                    "end_frame": 859,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 859,
                    "end_frame": 1041,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1339,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709736,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 213,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 213,
                    "end_frame": 382,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 382,
                    "end_frame": 645,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 645,
                    "end_frame": 751,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 751,
                    "end_frame": 901,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 901,
                    "end_frame": 1149,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1149,
                    "end_frame": 1490,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709753,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 239,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 239,
                    "end_frame": 452,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 452,
                    "end_frame": 631,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 631,
                    "end_frame": 728,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 728,
                    "end_frame": 819,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 819,
                    "end_frame": 995,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 995,
                    "end_frame": 1482,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709765,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 259,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 259,
                    "end_frame": 454,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 454,
                    "end_frame": 681,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 681,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 946,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 946,
                    "end_frame": 1157,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1157,
                    "end_frame": 1394,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709783,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 244,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 244,
                    "end_frame": 488,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 488,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 849,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 849,
                    "end_frame": 960,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1495,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1495,
                    "end_frame": 2034,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709793,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 232,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 232,
                    "end_frame": 396,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 396,
                    "end_frame": 594,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 594,
                    "end_frame": 688,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 688,
                    "end_frame": 769,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 769,
                    "end_frame": 936,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 936,
                    "end_frame": 1193,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709814,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 242,
                    "end_frame": 443,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 443,
                    "end_frame": 694,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 694,
                    "end_frame": 788,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 788,
                    "end_frame": 885,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1243,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1243,
                    "end_frame": 1475,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709828,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 10,
                    "end_frame": 246,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 246,
                    "end_frame": 415,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 415,
                    "end_frame": 680,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 680,
                    "end_frame": 786,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 786,
                    "end_frame": 884,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 884,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1644,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709851,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 491,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 491,
                    "end_frame": 708,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 708,
                    "end_frame": 793,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 793,
                    "end_frame": 877,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 877,
                    "end_frame": 1500,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1500,
                    "end_frame": 1705,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709863,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 267,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 468,
                    "end_frame": 679,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 679,
                    "end_frame": 763,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 763,
                    "end_frame": 952,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 952,
                    "end_frame": 1351,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1351,
                    "end_frame": 1596,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709882,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 505,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 505,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 841,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 841,
                    "end_frame": 1042,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1283,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1989,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1283,
                    "end": 1989,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709893,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 242,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 242,
                    "end_frame": 428,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 428,
                    "end_frame": 642,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 642,
                    "end_frame": 767,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 767,
                    "end_frame": 852,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 852,
                    "end_frame": 1293,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1293,
                    "end_frame": 1865,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": [
                {
                    "start": 1293,
                    "end": 1865,
                    "description": ""
                }
            ]
        }
    },
    {
        "episode_id": 709909,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 720,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 720,
                    "end_frame": 782,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 782,
                    "end_frame": 876,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 876,
                    "end_frame": 1139,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1139,
                    "end_frame": 1323,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709933,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 294,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 294,
                    "end_frame": 525,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 525,
                    "end_frame": 820,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 820,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 983,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 983,
                    "end_frame": 1285,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1285,
                    "end_frame": 1942,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709948,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 254,
                    "end_frame": 461,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 461,
                    "end_frame": 688,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 688,
                    "end_frame": 787,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 787,
                    "end_frame": 889,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 889,
                    "end_frame": 1294,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1294,
                    "end_frame": 1511,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709965,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 227,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 227,
                    "end_frame": 444,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 444,
                    "end_frame": 649,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 649,
                    "end_frame": 732,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 732,
                    "end_frame": 838,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 838,
                    "end_frame": 1049,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1049,
                    "end_frame": 1263,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709977,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 245,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 245,
                    "end_frame": 434,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 650,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 650,
                    "end_frame": 754,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 754,
                    "end_frame": 842,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 842,
                    "end_frame": 1059,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1059,
                    "end_frame": 1254,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 709996,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 215,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 215,
                    "end_frame": 410,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 410,
                    "end_frame": 655,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 655,
                    "end_frame": 747,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 747,
                    "end_frame": 836,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 836,
                    "end_frame": 1045,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1045,
                    "end_frame": 1332,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710103,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 391,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 391,
                    "end_frame": 641,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 641,
                    "end_frame": 852,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 852,
                    "end_frame": 1007,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1156,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1156,
                    "end_frame": 1480,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1480,
                    "end_frame": 1983,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710122,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 654,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 654,
                    "end_frame": 861,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 861,
                    "end_frame": 996,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 996,
                    "end_frame": 1160,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1160,
                    "end_frame": 1491,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1491,
                    "end_frame": 1896,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710137,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 377,
                    "end_frame": 622,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 622,
                    "end_frame": 852,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 852,
                    "end_frame": 971,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 971,
                    "end_frame": 1110,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1407,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1407,
                    "end_frame": 1846,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710155,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 332,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 332,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 600,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 833,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1015,
                    "end_frame": 1183,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1183,
                    "end_frame": 1516,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1516,
                    "end_frame": 1985,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710188,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 369,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 369,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 820,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 820,
                    "end_frame": 1014,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1014,
                    "end_frame": 1167,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1167,
                    "end_frame": 1446,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1446,
                    "end_frame": 1941,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710207,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 403,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 677,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 677,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 882,
                    "end_frame": 1016,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1016,
                    "end_frame": 1179,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1179,
                    "end_frame": 1584,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1584,
                    "end_frame": 2061,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710226,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 368,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 368,
                    "end_frame": 623,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 623,
                    "end_frame": 812,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 812,
                    "end_frame": 1004,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1004,
                    "end_frame": 1119,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1119,
                    "end_frame": 1383,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1383,
                    "end_frame": 1655,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710239,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 363,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 363,
                    "end_frame": 680,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 680,
                    "end_frame": 987,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 987,
                    "end_frame": 1121,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1121,
                    "end_frame": 1266,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1602,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1602,
                    "end_frame": 1970,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710262,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 375,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 375,
                    "end_frame": 631,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 631,
                    "end_frame": 805,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 805,
                    "end_frame": 940,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 940,
                    "end_frame": 1104,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1104,
                    "end_frame": 1425,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1425,
                    "end_frame": 1737,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710281,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 385,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 811,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 811,
                    "end_frame": 999,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 999,
                    "end_frame": 1101,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1101,
                    "end_frame": 1405,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1808,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710299,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 359,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 854,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1065,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1185,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1185,
                    "end_frame": 1507,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1507,
                    "end_frame": 1984,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710320,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 340,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 340,
                    "end_frame": 549,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 549,
                    "end_frame": 734,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 734,
                    "end_frame": 900,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1028,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1028,
                    "end_frame": 1386,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1806,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710338,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 388,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 388,
                    "end_frame": 642,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 642,
                    "end_frame": 930,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 930,
                    "end_frame": 1076,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1224,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1224,
                    "end_frame": 1606,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1606,
                    "end_frame": 2077,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710360,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 373,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 373,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 851,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 851,
                    "end_frame": 992,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 992,
                    "end_frame": 1125,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1125,
                    "end_frame": 1507,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1507,
                    "end_frame": 1928,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710379,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 399,
                    "end_frame": 651,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 651,
                    "end_frame": 915,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 915,
                    "end_frame": 1037,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1037,
                    "end_frame": 1165,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1165,
                    "end_frame": 1470,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1470,
                    "end_frame": 1836,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710397,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 414,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 414,
                    "end_frame": 648,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 648,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 968,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 968,
                    "end_frame": 1077,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1354,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1354,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710411,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 377,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 377,
                    "end_frame": 610,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 610,
                    "end_frame": 785,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 785,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1064,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1064,
                    "end_frame": 1404,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1404,
                    "end_frame": 1715,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710441,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 68,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 379,
                    "end_frame": 619,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 619,
                    "end_frame": 941,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1069,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1069,
                    "end_frame": 1211,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1211,
                    "end_frame": 1725,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1725,
                    "end_frame": 2228,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710460,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 29,
                    "end_frame": 358,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 358,
                    "end_frame": 553,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 553,
                    "end_frame": 746,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 746,
                    "end_frame": 889,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 889,
                    "end_frame": 1120,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1120,
                    "end_frame": 1449,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1449,
                    "end_frame": 1809,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710480,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 380,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 605,
                    "end_frame": 814,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 814,
                    "end_frame": 967,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 967,
                    "end_frame": 1113,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1423,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1423,
                    "end_frame": 1781,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710493,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 351,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 351,
                    "end_frame": 562,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 562,
                    "end_frame": 771,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 771,
                    "end_frame": 885,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 885,
                    "end_frame": 1035,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1035,
                    "end_frame": 1322,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1322,
                    "end_frame": 1695,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710509,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 20,
                    "end_frame": 394,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 394,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 881,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1015,
                    "end_frame": 1153,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1153,
                    "end_frame": 1494,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1494,
                    "end_frame": 1806,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710526,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 17,
                    "end_frame": 441,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 441,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 676,
                    "end_frame": 871,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 871,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1010,
                    "end_frame": 1154,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1154,
                    "end_frame": 1495,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1495,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710547,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 552,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 552,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 868,
                    "end_frame": 1152,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1152,
                    "end_frame": 1290,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1290,
                    "end_frame": 1437,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1437,
                    "end_frame": 1781,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1781,
                    "end_frame": 2203,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710561,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 430,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 430,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 660,
                    "end_frame": 882,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 882,
                    "end_frame": 999,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 999,
                    "end_frame": 1143,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1143,
                    "end_frame": 1434,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1434,
                    "end_frame": 1744,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710577,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 353,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 353,
                    "end_frame": 576,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 576,
                    "end_frame": 760,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 760,
                    "end_frame": 874,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 874,
                    "end_frame": 994,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 994,
                    "end_frame": 1317,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1317,
                    "end_frame": 1731,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710593,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 371,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 622,
                    "end_frame": 873,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 873,
                    "end_frame": 1015,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1015,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1132,
                    "end_frame": 1462,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1462,
                    "end_frame": 1807,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710614,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 30,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 425,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 683,
                    "end_frame": 879,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 879,
                    "end_frame": 1017,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1017,
                    "end_frame": 1169,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1169,
                    "end_frame": 1533,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1533,
                    "end_frame": 1923,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710630,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 359,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 359,
                    "end_frame": 571,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 571,
                    "end_frame": 769,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 769,
                    "end_frame": 888,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 888,
                    "end_frame": 1010,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1309,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1309,
                    "end_frame": 1714,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710646,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 443,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 443,
                    "end_frame": 716,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 716,
                    "end_frame": 965,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1087,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1087,
                    "end_frame": 1218,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1218,
                    "end_frame": 1554,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1554,
                    "end_frame": 1927,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710665,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 15,
                    "end_frame": 408,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 408,
                    "end_frame": 688,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 688,
                    "end_frame": 923,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 923,
                    "end_frame": 1048,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1180,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1611,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1611,
                    "end_frame": 1924,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710688,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 415,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 415,
                    "end_frame": 664,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 664,
                    "end_frame": 1180,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1180,
                    "end_frame": 1303,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1303,
                    "end_frame": 1420,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1420,
                    "end_frame": 1781,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1781,
                    "end_frame": 2111,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710698,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 373,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 373,
                    "end_frame": 607,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 607,
                    "end_frame": 784,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 784,
                    "end_frame": 892,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 892,
                    "end_frame": 1031,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1031,
                    "end_frame": 1331,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1331,
                    "end_frame": 1691,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710719,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 409,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 409,
                    "end_frame": 663,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 663,
                    "end_frame": 913,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1027,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1027,
                    "end_frame": 1163,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1163,
                    "end_frame": 1618,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1618,
                    "end_frame": 1982,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710735,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 374,
                    "end_frame": 601,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 601,
                    "end_frame": 827,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 827,
                    "end_frame": 947,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 947,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 1560,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1560,
                    "end_frame": 1934,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710748,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 435,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 435,
                    "end_frame": 665,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 665,
                    "end_frame": 893,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 893,
                    "end_frame": 1009,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1009,
                    "end_frame": 1148,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1148,
                    "end_frame": 1517,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1517,
                    "end_frame": 1848,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710759,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 365,
                    "end_frame": 617,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 617,
                    "end_frame": 823,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 823,
                    "end_frame": 988,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 988,
                    "end_frame": 1103,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1103,
                    "end_frame": 1421,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1421,
                    "end_frame": 1719,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710774,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 362,
                    "end_frame": 639,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 639,
                    "end_frame": 819,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 819,
                    "end_frame": 961,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 961,
                    "end_frame": 1083,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1083,
                    "end_frame": 1411,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1411,
                    "end_frame": 1757,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710786,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 31,
                    "end_frame": 333,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 333,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 563,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 877,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 877,
                    "end_frame": 1016,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1016,
                    "end_frame": 1333,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1333,
                    "end_frame": 1648,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 710803,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 352,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 352,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 635,
                    "end_frame": 868,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 868,
                    "end_frame": 986,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 986,
                    "end_frame": 1133,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1133,
                    "end_frame": 1388,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1388,
                    "end_frame": 1733,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712855,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 284,
                    "end_frame": 552,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 552,
                    "end_frame": 895,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 895,
                    "end_frame": 1094,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1094,
                    "end_frame": 1245,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1245,
                    "end_frame": 1516,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1516,
                    "end_frame": 1854,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712863,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 28,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 286,
                    "end_frame": 535,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 535,
                    "end_frame": 828,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 828,
                    "end_frame": 1045,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 1045,
                    "end_frame": 1186,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1186,
                    "end_frame": 1488,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1488,
                    "end_frame": 1831,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712874,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 362,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 569,
                    "end_frame": 809,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 809,
                    "end_frame": 957,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 957,
                    "end_frame": 1108,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1108,
                    "end_frame": 1422,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1422,
                    "end_frame": 1721,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712884,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 274,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 274,
                    "end_frame": 491,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 491,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 881,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 881,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1262,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1848,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712895,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 311,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 311,
                    "end_frame": 576,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 576,
                    "end_frame": 821,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 821,
                    "end_frame": 950,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 950,
                    "end_frame": 1123,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1123,
                    "end_frame": 1450,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1450,
                    "end_frame": 1699,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712905,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 284,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 284,
                    "end_frame": 580,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 580,
                    "end_frame": 816,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 816,
                    "end_frame": 941,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 941,
                    "end_frame": 1116,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1464,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1464,
                    "end_frame": 1817,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712947,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 293,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 293,
                    "end_frame": 536,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 536,
                    "end_frame": 796,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 796,
                    "end_frame": 937,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 937,
                    "end_frame": 1100,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1342,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1342,
                    "end_frame": 1655,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712961,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 26,
                    "end_frame": 301,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 301,
                    "end_frame": 540,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 540,
                    "end_frame": 788,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 788,
                    "end_frame": 894,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1023,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1363,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1363,
                    "end_frame": 1659,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712971,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 296,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 296,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 522,
                    "end_frame": 783,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 783,
                    "end_frame": 918,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 918,
                    "end_frame": 1082,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1082,
                    "end_frame": 1390,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1390,
                    "end_frame": 1714,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712980,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 314,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 314,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1116,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1337,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1337,
                    "end_frame": 1664,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713000,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 299,
                    "end_frame": 523,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 523,
                    "end_frame": 749,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 749,
                    "end_frame": 869,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 869,
                    "end_frame": 1048,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1048,
                    "end_frame": 1272,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1272,
                    "end_frame": 1697,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713011,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 290,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 290,
                    "end_frame": 479,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 479,
                    "end_frame": 721,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 721,
                    "end_frame": 822,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 822,
                    "end_frame": 992,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 992,
                    "end_frame": 1386,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1386,
                    "end_frame": 1675,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713029,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 299,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 299,
                    "end_frame": 507,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 507,
                    "end_frame": 771,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 771,
                    "end_frame": 903,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 903,
                    "end_frame": 1070,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1070,
                    "end_frame": 1315,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1315,
                    "end_frame": 1705,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713041,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 277,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 277,
                    "end_frame": 459,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 459,
                    "end_frame": 667,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 667,
                    "end_frame": 790,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 790,
                    "end_frame": 925,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 925,
                    "end_frame": 1123,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1123,
                    "end_frame": 1388,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713055,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 13,
                    "end_frame": 270,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 270,
                    "end_frame": 462,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 462,
                    "end_frame": 748,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 748,
                    "end_frame": 851,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 851,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1222,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1222,
                    "end_frame": 1527,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713065,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 278,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 278,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 487,
                    "end_frame": 774,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 774,
                    "end_frame": 888,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 888,
                    "end_frame": 1049,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1049,
                    "end_frame": 1413,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1413,
                    "end_frame": 1656,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713085,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 286,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 478,
                    "end_frame": 829,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 829,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 958,
                    "end_frame": 1103,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1103,
                    "end_frame": 1285,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1285,
                    "end_frame": 1580,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713098,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 22,
                    "end_frame": 286,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 286,
                    "end_frame": 484,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 484,
                    "end_frame": 714,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 714,
                    "end_frame": 855,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 855,
                    "end_frame": 1003,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1358,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1358,
                    "end_frame": 1581,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713115,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 276,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 276,
                    "end_frame": 456,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 904,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 904,
                    "end_frame": 1065,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1065,
                    "end_frame": 1226,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1731,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1731,
                    "end_frame": 2528,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713131,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 25,
                    "end_frame": 287,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 287,
                    "end_frame": 513,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 513,
                    "end_frame": 797,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 797,
                    "end_frame": 928,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 928,
                    "end_frame": 1123,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1123,
                    "end_frame": 1452,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1452,
                    "end_frame": 2330,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713139,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 269,
                    "end_frame": 473,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 473,
                    "end_frame": 726,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 726,
                    "end_frame": 845,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 845,
                    "end_frame": 996,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 996,
                    "end_frame": 1227,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1227,
                    "end_frame": 1685,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713153,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 16,
                    "end_frame": 261,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 261,
                    "end_frame": 440,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 440,
                    "end_frame": 681,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 681,
                    "end_frame": 823,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 823,
                    "end_frame": 967,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 967,
                    "end_frame": 1124,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1124,
                    "end_frame": 1435,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713164,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 19,
                    "end_frame": 317,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 317,
                    "end_frame": 582,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 582,
                    "end_frame": 833,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 833,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 943,
                    "end_frame": 1097,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1097,
                    "end_frame": 1374,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1374,
                    "end_frame": 1836,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713210,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 285,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 540,
                    "end_frame": 709,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 709,
                    "end_frame": 809,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 809,
                    "end_frame": 921,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 921,
                    "end_frame": 1178,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1178,
                    "end_frame": 1457,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713267,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 265,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 265,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 488,
                    "end_frame": 700,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 700,
                    "end_frame": 857,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 857,
                    "end_frame": 1013,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1013,
                    "end_frame": 1193,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1193,
                    "end_frame": 1463,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713290,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 267,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 267,
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                {
                    "start_frame": 491,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 743,
                    "end_frame": 888,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 888,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1036,
                    "end_frame": 1354,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1354,
                    "end_frame": 1574,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713311,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 40,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 285,
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                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                {
                    "start_frame": 497,
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                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                {
                    "start_frame": 722,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 886,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1065,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1407,
                    "end_frame": 1663,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713437,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 254,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 254,
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                {
                    "start_frame": 476,
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                {
                    "start_frame": 694,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 848,
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                {
                    "start_frame": 1015,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1341,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713447,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
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                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                {
                    "start_frame": 244,
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                {
                    "start_frame": 464,
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                {
                    "start_frame": 633,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 767,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 885,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1083,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713461,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
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                    "start_frame": 245,
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                {
                    "start_frame": 467,
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                {
                    "start_frame": 662,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 803,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 958,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713497,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
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                {
                    "start_frame": 271,
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                {
                    "start_frame": 489,
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                {
                    "start_frame": 840,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 1010,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1133,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713551,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
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                {
                    "start_frame": 416,
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                {
                    "start_frame": 702,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 830,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 981,
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                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1269,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713587,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
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                {
                    "start_frame": 265,
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                {
                    "start_frame": 515,
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                {
                    "start_frame": 735,
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                    "action_text": "Grasp the left arm with the left hand.",
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                {
                    "start_frame": 849,
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                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                {
                    "start_frame": 1000,
                    "end_frame": 1249,
                    "action_text": "Grasp the right collar with the right arm.",
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                {
                    "start_frame": 1249,
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                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
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            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713601,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 269,
                    "end_frame": 445,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 694,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 694,
                    "end_frame": 896,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 896,
                    "end_frame": 1063,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1561,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1561,
                    "end_frame": 1801,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713624,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 257,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 257,
                    "end_frame": 450,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 450,
                    "end_frame": 691,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 691,
                    "end_frame": 854,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 854,
                    "end_frame": 1007,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1007,
                    "end_frame": 1321,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1321,
                    "end_frame": 1567,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713638,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 260,
                    "end_frame": 453,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 453,
                    "end_frame": 680,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 680,
                    "end_frame": 808,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 808,
                    "end_frame": 920,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 920,
                    "end_frame": 1176,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1176,
                    "end_frame": 1357,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713663,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 266,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 266,
                    "end_frame": 518,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 518,
                    "end_frame": 752,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 752,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1060,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1060,
                    "end_frame": 1306,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1306,
                    "end_frame": 1536,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713679,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 269,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 269,
                    "end_frame": 483,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 483,
                    "end_frame": 652,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 652,
                    "end_frame": 751,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 751,
                    "end_frame": 902,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 902,
                    "end_frame": 1211,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1211,
                    "end_frame": 1433,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713694,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 230,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 230,
                    "end_frame": 468,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 468,
                    "end_frame": 655,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 655,
                    "end_frame": 770,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 770,
                    "end_frame": 909,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 909,
                    "end_frame": 1190,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1190,
                    "end_frame": 1507,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713737,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 273,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 273,
                    "end_frame": 485,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 485,
                    "end_frame": 766,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 766,
                    "end_frame": 914,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 914,
                    "end_frame": 1051,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1275,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1275,
                    "end_frame": 1507,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713827,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 260,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 260,
                    "end_frame": 603,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 603,
                    "end_frame": 838,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 838,
                    "end_frame": 935,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 935,
                    "end_frame": 1084,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1084,
                    "end_frame": 1552,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1552,
                    "end_frame": 1833,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713841,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 262,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 262,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 830,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 830,
                    "end_frame": 964,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1092,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1092,
                    "end_frame": 1287,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1287,
                    "end_frame": 1577,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714002,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 37,
                    "end_frame": 275,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 275,
                    "end_frame": 522,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 522,
                    "end_frame": 717,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 717,
                    "end_frame": 791,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 791,
                    "end_frame": 962,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1304,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1304,
                    "end_frame": 1651,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714050,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 288,
                    "action_text": "Lift the right arm to grasp the wooden clothes hanger on the right side of the wooden clothes hanger.",
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                },
                {
                    "start_frame": 288,
                    "end_frame": 569,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
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                },
                {
                    "start_frame": 569,
                    "end_frame": 802,
                    "action_text": "Hang the clothes held in the left arm on the left side of wooden clothes hanger.",
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                },
                {
                    "start_frame": 802,
                    "end_frame": 902,
                    "action_text": "Grasp the left arm with the left hand.",
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                },
                {
                    "start_frame": 902,
                    "end_frame": 1078,
                    "action_text": "Release the right arm holding wooden clothes hanger.",
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                },
                {
                    "start_frame": 1078,
                    "end_frame": 1385,
                    "action_text": "Grasp the right collar with the right arm.",
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                },
                {
                    "start_frame": 1385,
                    "end_frame": 1653,
                    "action_text": "Hang the clothes held in the right arm on the right side of wooden clothes hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712908,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 23,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 656,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 656,
                    "end_frame": 1095,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1257,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1257,
                    "end_frame": 1385,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1385,
                    "end_frame": 1764,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1764,
                    "end_frame": 2505,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712920,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 24,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
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                },
                {
                    "start_frame": 434,
                    "end_frame": 792,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 792,
                    "end_frame": 1042,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1042,
                    "end_frame": 1170,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1170,
                    "end_frame": 1296,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1296,
                    "end_frame": 1761,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1761,
                    "end_frame": 2254,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712934,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 33,
                    "end_frame": 400,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
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                },
                {
                    "start_frame": 400,
                    "end_frame": 668,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 668,
                    "end_frame": 1002,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1002,
                    "end_frame": 1105,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1105,
                    "end_frame": 1244,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1244,
                    "end_frame": 1725,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1725,
                    "end_frame": 2320,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712965,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 379,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
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                },
                {
                    "start_frame": 379,
                    "end_frame": 574,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 574,
                    "end_frame": 991,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 991,
                    "end_frame": 1126,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1126,
                    "end_frame": 1282,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1461,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1461,
                    "end_frame": 2083,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712975,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 415,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 415,
                    "end_frame": 682,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 682,
                    "end_frame": 1030,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1030,
                    "end_frame": 1143,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1143,
                    "end_frame": 1307,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1725,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1725,
                    "end_frame": 2157,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 712983,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 627,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 627,
                    "end_frame": 1010,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1133,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1133,
                    "end_frame": 1274,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1274,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1593,
                    "end_frame": 2101,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713001,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 371,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 371,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 943,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1062,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1232,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1232,
                    "end_frame": 1575,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1575,
                    "end_frame": 2090,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713032,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 392,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 392,
                    "end_frame": 652,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 652,
                    "end_frame": 955,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 955,
                    "end_frame": 1078,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1078,
                    "end_frame": 1254,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1254,
                    "end_frame": 1600,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1600,
                    "end_frame": 2065,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713059,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 430,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 430,
                    "end_frame": 721,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 721,
                    "end_frame": 1191,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1191,
                    "end_frame": 1302,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1302,
                    "end_frame": 1474,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1474,
                    "end_frame": 1835,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1835,
                    "end_frame": 2441,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713071,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 612,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 612,
                    "end_frame": 939,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 939,
                    "end_frame": 1051,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1051,
                    "end_frame": 1242,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1242,
                    "end_frame": 1861,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1861,
                    "end_frame": 2228,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713093,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 437,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 437,
                    "end_frame": 753,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 753,
                    "end_frame": 1157,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1157,
                    "end_frame": 1282,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1282,
                    "end_frame": 1402,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1402,
                    "end_frame": 1807,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1807,
                    "end_frame": 2350,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713111,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 407,
                    "end_frame": 685,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 685,
                    "end_frame": 1003,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1003,
                    "end_frame": 1115,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1115,
                    "end_frame": 1234,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1234,
                    "end_frame": 1789,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1789,
                    "end_frame": 2250,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713142,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 376,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 376,
                    "end_frame": 666,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 666,
                    "end_frame": 919,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 919,
                    "end_frame": 1035,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1035,
                    "end_frame": 1179,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1179,
                    "end_frame": 1557,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1557,
                    "end_frame": 2019,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713419,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 450,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 450,
                    "end_frame": 657,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 657,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1035,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1035,
                    "end_frame": 1212,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1212,
                    "end_frame": 1581,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1581,
                    "end_frame": 2016,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713429,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 360,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 360,
                    "end_frame": 621,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 621,
                    "end_frame": 887,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 887,
                    "end_frame": 963,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 963,
                    "end_frame": 1036,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1036,
                    "end_frame": 1462,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1462,
                    "end_frame": 2029,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713486,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 557,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 557,
                    "end_frame": 907,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 907,
                    "end_frame": 1023,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1023,
                    "end_frame": 1126,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1126,
                    "end_frame": 1737,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1737,
                    "end_frame": 2023,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713499,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 0,
                    "end_frame": 445,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 445,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 964,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 964,
                    "end_frame": 1050,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1050,
                    "end_frame": 1214,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1214,
                    "end_frame": 1432,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1432,
                    "end_frame": 1865,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713508,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 35,
                    "end_frame": 336,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 336,
                    "end_frame": 528,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 528,
                    "end_frame": 852,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 852,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1095,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1095,
                    "end_frame": 1633,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1633,
                    "end_frame": 1964,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713528,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 58,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 600,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 600,
                    "end_frame": 945,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 945,
                    "end_frame": 1032,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1032,
                    "end_frame": 1200,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1200,
                    "end_frame": 1648,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1648,
                    "end_frame": 1976,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713546,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 58,
                    "end_frame": 380,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 380,
                    "end_frame": 619,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 619,
                    "end_frame": 1006,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1006,
                    "end_frame": 1094,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1094,
                    "end_frame": 1240,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1240,
                    "end_frame": 1633,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1633,
                    "end_frame": 1993,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713562,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 455,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 455,
                    "end_frame": 637,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 637,
                    "end_frame": 986,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 986,
                    "end_frame": 1074,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1074,
                    "end_frame": 1226,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1226,
                    "end_frame": 1582,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1582,
                    "end_frame": 1945,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713575,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 408,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 408,
                    "end_frame": 579,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 579,
                    "end_frame": 961,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 961,
                    "end_frame": 1062,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1062,
                    "end_frame": 1227,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1227,
                    "end_frame": 1651,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1651,
                    "end_frame": 2019,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713596,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 429,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 429,
                    "end_frame": 588,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 588,
                    "end_frame": 1283,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1283,
                    "end_frame": 1468,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1468,
                    "end_frame": 1621,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1621,
                    "end_frame": 1959,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1959,
                    "end_frame": 2376,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713610,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 446,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 446,
                    "end_frame": 645,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 645,
                    "end_frame": 1225,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1225,
                    "end_frame": 1337,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1337,
                    "end_frame": 1527,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1527,
                    "end_frame": 1903,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1903,
                    "end_frame": 2306,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713625,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 400,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 400,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 1136,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1136,
                    "end_frame": 1266,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1266,
                    "end_frame": 1405,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1405,
                    "end_frame": 1900,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1900,
                    "end_frame": 2260,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713724,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 426,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 426,
                    "end_frame": 644,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 644,
                    "end_frame": 972,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 972,
                    "end_frame": 1074,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1074,
                    "end_frame": 1251,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1251,
                    "end_frame": 1608,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1608,
                    "end_frame": 1952,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713738,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 419,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 419,
                    "end_frame": 661,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 661,
                    "end_frame": 989,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 989,
                    "end_frame": 1090,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1262,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1668,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1668,
                    "end_frame": 2103,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713755,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 385,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 385,
                    "end_frame": 631,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 631,
                    "end_frame": 913,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 913,
                    "end_frame": 1012,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1012,
                    "end_frame": 1169,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1169,
                    "end_frame": 1587,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1587,
                    "end_frame": 1917,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713778,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 51,
                    "end_frame": 391,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 391,
                    "end_frame": 659,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 659,
                    "end_frame": 932,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 932,
                    "end_frame": 1041,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1041,
                    "end_frame": 1155,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1155,
                    "end_frame": 1487,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1487,
                    "end_frame": 1896,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713800,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 38,
                    "end_frame": 362,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 362,
                    "end_frame": 590,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 590,
                    "end_frame": 851,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 851,
                    "end_frame": 960,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 960,
                    "end_frame": 1116,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1116,
                    "end_frame": 1571,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1571,
                    "end_frame": 2038,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713845,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 426,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 426,
                    "end_frame": 705,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 705,
                    "end_frame": 978,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 978,
                    "end_frame": 1110,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1110,
                    "end_frame": 1240,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1240,
                    "end_frame": 1652,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1652,
                    "end_frame": 2014,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713861,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 406,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 406,
                    "end_frame": 673,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 673,
                    "end_frame": 980,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 980,
                    "end_frame": 1096,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1096,
                    "end_frame": 1251,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1251,
                    "end_frame": 1618,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1618,
                    "end_frame": 1969,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713877,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 456,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 456,
                    "end_frame": 716,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 716,
                    "end_frame": 1022,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1022,
                    "end_frame": 1142,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1142,
                    "end_frame": 1262,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1262,
                    "end_frame": 1539,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1539,
                    "end_frame": 1958,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713886,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 427,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 427,
                    "end_frame": 682,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 682,
                    "end_frame": 994,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 994,
                    "end_frame": 1124,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1124,
                    "end_frame": 1252,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1252,
                    "end_frame": 1744,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1744,
                    "end_frame": 2105,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713898,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 407,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 407,
                    "end_frame": 640,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 640,
                    "end_frame": 1056,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1056,
                    "end_frame": 1159,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1159,
                    "end_frame": 1292,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1292,
                    "end_frame": 1706,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1706,
                    "end_frame": 2052,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713924,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 56,
                    "end_frame": 436,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 436,
                    "end_frame": 685,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 685,
                    "end_frame": 942,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 942,
                    "end_frame": 1034,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1034,
                    "end_frame": 1199,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1199,
                    "end_frame": 1598,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1598,
                    "end_frame": 1902,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713964,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 46,
                    "end_frame": 365,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 365,
                    "end_frame": 655,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 655,
                    "end_frame": 900,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 900,
                    "end_frame": 1018,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1018,
                    "end_frame": 1164,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1164,
                    "end_frame": 1549,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1549,
                    "end_frame": 1983,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713980,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 432,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 432,
                    "end_frame": 676,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 676,
                    "end_frame": 985,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1115,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1115,
                    "end_frame": 1259,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1259,
                    "end_frame": 1704,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1704,
                    "end_frame": 2055,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 713991,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 57,
                    "end_frame": 432,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 432,
                    "end_frame": 710,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 710,
                    "end_frame": 1044,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1044,
                    "end_frame": 1130,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1130,
                    "end_frame": 1267,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1267,
                    "end_frame": 1508,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1885,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714007,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 52,
                    "end_frame": 459,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 459,
                    "end_frame": 690,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 690,
                    "end_frame": 1013,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 1013,
                    "end_frame": 1145,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1145,
                    "end_frame": 1307,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1307,
                    "end_frame": 1755,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1755,
                    "end_frame": 2107,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714024,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 394,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 394,
                    "end_frame": 657,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 657,
                    "end_frame": 938,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 938,
                    "end_frame": 1063,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1063,
                    "end_frame": 1236,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1236,
                    "end_frame": 1655,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1655,
                    "end_frame": 1999,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714040,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 49,
                    "end_frame": 397,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 397,
                    "end_frame": 630,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 630,
                    "end_frame": 966,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 966,
                    "end_frame": 1100,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1100,
                    "end_frame": 1256,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1256,
                    "end_frame": 1743,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1743,
                    "end_frame": 2072,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714057,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 424,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 424,
                    "end_frame": 664,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 664,
                    "end_frame": 948,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 948,
                    "end_frame": 1086,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1086,
                    "end_frame": 1245,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1245,
                    "end_frame": 1516,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1516,
                    "end_frame": 1832,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714097,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 48,
                    "end_frame": 386,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 386,
                    "end_frame": 634,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 634,
                    "end_frame": 962,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 962,
                    "end_frame": 1090,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1090,
                    "end_frame": 1255,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1255,
                    "end_frame": 1765,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1765,
                    "end_frame": 2106,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714112,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 403,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 403,
                    "end_frame": 639,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 639,
                    "end_frame": 965,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 965,
                    "end_frame": 1088,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1088,
                    "end_frame": 1218,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1218,
                    "end_frame": 1625,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1625,
                    "end_frame": 2030,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714128,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 39,
                    "end_frame": 390,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 390,
                    "end_frame": 638,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 638,
                    "end_frame": 894,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 894,
                    "end_frame": 1005,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1005,
                    "end_frame": 1132,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1132,
                    "end_frame": 1593,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1593,
                    "end_frame": 1954,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714151,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 374,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 374,
                    "end_frame": 592,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 592,
                    "end_frame": 840,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 840,
                    "end_frame": 958,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 958,
                    "end_frame": 1076,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1076,
                    "end_frame": 1464,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1464,
                    "end_frame": 1785,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714160,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 47,
                    "end_frame": 434,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 434,
                    "end_frame": 663,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 663,
                    "end_frame": 985,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 985,
                    "end_frame": 1106,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1106,
                    "end_frame": 1218,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1218,
                    "end_frame": 1748,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1748,
                    "end_frame": 2034,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714166,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 36,
                    "end_frame": 425,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 425,
                    "end_frame": 653,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 653,
                    "end_frame": 916,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 916,
                    "end_frame": 1010,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1010,
                    "end_frame": 1113,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1113,
                    "end_frame": 1508,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1508,
                    "end_frame": 1834,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714178,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 45,
                    "end_frame": 399,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 399,
                    "end_frame": 605,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 605,
                    "end_frame": 844,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 844,
                    "end_frame": 954,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 954,
                    "end_frame": 1078,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1078,
                    "end_frame": 1514,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1514,
                    "end_frame": 1851,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714190,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 41,
                    "end_frame": 369,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 369,
                    "end_frame": 599,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 599,
                    "end_frame": 851,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 851,
                    "end_frame": 961,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 961,
                    "end_frame": 1077,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1077,
                    "end_frame": 1409,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1409,
                    "end_frame": 1755,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714200,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 82,
                    "end_frame": 457,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 457,
                    "end_frame": 681,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 681,
                    "end_frame": 929,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 929,
                    "end_frame": 1066,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1066,
                    "end_frame": 1225,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1225,
                    "end_frame": 1651,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1651,
                    "end_frame": 1942,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    },
    {
        "episode_id": 714234,
        "task_id": 414,
        "task_name": "Hang clothes with hanger",
        "init_scene_text": "The robot stands by the bed or sofa, with clothes placed on the left and hangers on the right.",
        "label_info": {
            "action_config": [
                {
                    "start_frame": 43,
                    "end_frame": 405,
                    "action_text": "Lift the right arm to grasp the plastic hanger on the right side of the plastic hanger.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 405,
                    "end_frame": 615,
                    "action_text": "Grasp the collar with the left arm and lift the garment.",
                    "skill": "Pick"
                },
                {
                    "start_frame": 615,
                    "end_frame": 837,
                    "action_text": "Hang the clothes held in the left arm on the left side of plastic hanger.",
                    "skill": "Hang"
                },
                {
                    "start_frame": 837,
                    "end_frame": 943,
                    "action_text": "Grasp the left arm with the left hand.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 943,
                    "end_frame": 1040,
                    "action_text": "Release the right arm holding plastic hanger.",
                    "skill": "Release"
                },
                {
                    "start_frame": 1040,
                    "end_frame": 1271,
                    "action_text": "Grasp the right collar with the right arm.",
                    "skill": "Grasp"
                },
                {
                    "start_frame": 1271,
                    "end_frame": 1625,
                    "action_text": "Hang the clothes held in the right arm on the right side of plastic hanger.",
                    "skill": "Hang"
                }
            ],
            "key_frame": []
        }
    }
]