diff --git "a/egoSample/mego.html" "b/egoSample/mego.html"
--- "a/egoSample/mego.html"
+++ "b/egoSample/mego.html"
@@ -107,7 +107,7 @@ header h1{margin:0 0 3px;font-size:19px}
   <div class="main" id="main"></div>
 </div>
 
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"Knead", "label": "Both hands work together to knead the film", "ts": 22.65, "te": 23.5, "mistake": false}, {"skill": "Place", "label": "Right hand places the film on the table", "ts": 23.5, "te": 24.32, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the pear on the table", "ts": 24.32, "te": 24.92, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear into the plate", "ts": 24.92, "te": 25.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pear on the table", "ts": 25.12, "te": 25.35, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear into the plate", "ts": 25.35, "te": 26.23, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears on the table", "ts": 26.23, "te": 27.38, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears into the plate", "ts": 27.38, "te": 28.97, "mistake": false}, {"skill": "Straighten", "label": 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{"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 25.45, "te": 26.5, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the plate", "ts": 26.5, "te": 27.28, "mistake": false}, {"skill": "Tear", "label": "Right hand tears off the film", "ts": 27.28, "te": 28.33, "mistake": false}, {"skill": "Place", "label": "Left hand places the plate on the table", "ts": 28.33, "te": 28.98, "mistake": false}, {"skill": "Knead", "label": "Both hands work together to knead the film", "ts": 28.98, "te": 30.98, "mistake": false}, {"skill": "Place", "label": "Right hand places the film on the table", "ts": 30.98, "te": 32.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table while right hand picks up a pear on the table", "ts": 32.38, "te": 36.1, "mistake": false}]}, {"slug": "task_15638_ep000", "kind": "wild", "task": "task_15638", "ep": 0, "short": "Document archiving", "task_name": "Document scanning and 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false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 29.17, "te": 30.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 30.57, "te": 31.67, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 31.67, "te": 33.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 33.07, "te": 34.17, "mistake": false}]}, {"slug": "task_15638_ep001", "kind": "wild", "task": "task_15638", "ep": 1, "short": "Document archiving", "task_name": "Document scanning and archiving", "instruction": "Organize the documents on the table", "duration": 37.98, "nframes": 2280, "fps": 30, "usability": 1.0, "overall": 5.0, 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hands work together to stack the document on the pile of documents on the right side of the table", "ts": 2.5, "te": 3.33, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 3.33, "te": 4.82, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 4.82, "te": 5.72, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 5.72, "te": 6.87, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 6.87, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.83, "te": 9.35, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 9.35, "te": 10.05, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 10.05, "te": 11.03, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 11.03, "te": 11.85, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 11.85, "te": 12.83, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 12.83, "te": 13.57, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 13.57, "te": 14.58, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 14.58, "te": 15.4, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 15.4, "te": 16.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 16.6, "te": 17.45, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 17.45, "te": 18.67, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 18.67, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 19.48, "te": 21.02, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 21.02, "te": 22.03, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 22.03, "te": 23.68, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 23.68, "te": 24.43, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 24.43, "te": 25.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 25.6, "te": 26.6, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 26.6, "te": 28.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 28.6, "te": 29.73, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 29.73, "te": 30.87, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 30.87, "te": 31.6, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 31.6, "te": 33.53, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 33.53, "te": 34.42, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 34.42, "te": 35.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand organizes and aligns the stack of documents on the right.", "ts": 35.87, "te": 36.93, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the stack of documents on the right side of the table", "ts": 36.93, "te": 37.82, "mistake": false}]}, {"slug": "task_15638_ep002", "kind": "wild", "task": "task_15638", "ep": 2, "short": "Document archiving", "task_name": "Document scanning and archiving", "instruction": "Organize the documents on the table", "duration": 36.98, "nframes": 2220, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": 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together to stack the document onto the pile of documents on the right side of the table", "ts": 25.15, "te": 25.93, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 25.93, "te": 27.23, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 27.23, "te": 27.95, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 27.95, "te": 29.27, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 29.27, "te": 30.27, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 30.27, "te": 31.7, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 31.7, "te": 32.62, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 32.62, "te": 35.12, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 35.12, "te": 36.05, "mistake": false}]}, {"slug": "task_15638_ep003", "kind": "wild", "task": "task_15638", "ep": 3, "short": "Document archiving", "task_name": "Document scanning and archiving", "instruction": "Organize the documents on the table", "duration": 38.97, "nframes": 2339, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800066", "qc": {"status": "pass", "total": 41, "passed": 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"ts": 2.43, "te": 3.55, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 3.55, "te": 4.9, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 4.9, "te": 5.95, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 5.95, "te": 7.52, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 7.52, "te": 8.52, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 8.52, "te": 9.65, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the 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"mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 16.58, "te": 17.73, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 17.73, "te": 18.85, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 18.85, "te": 20.02, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 20.02, "te": 21.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 21.6, "te": 22.75, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from 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false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 29.45, "te": 30.52, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 30.52, "te": 31.38, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 31.38, "te": 32.65, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 32.65, "te": 33.62, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the stack of documents on the left side of the table", "ts": 33.62, "te": 35.8, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the 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false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 5.53, "te": 7.0, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 7.0, "te": 7.7, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.7, "te": 9.55, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 9.55, "te": 10.32, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 10.32, "te": 11.7, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents 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"label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 19.7, "te": 20.57, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 20.57, "te": 22.37, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 22.37, "te": 23.13, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 23.13, "te": 24.3, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 24.3, "te": 25.05, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side 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"te": 11.58, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the keyboard tray onto the keyboard trays on the left", "ts": 11.58, "te": 11.92, "mistake": false}, {"skill": "Flip", "label": "Right hand flips a keyboard tray", "ts": 11.92, "te": 12.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 12.77, "te": 13.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 13.17, "te": 13.6, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 13.6, "te": 14.5, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 14.5, "te": 14.83, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 14.83, "te": 15.13, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 15.13, "te": 15.55, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 15.55, "te": 16.55, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 16.55, "te": 18.3, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 18.3, "te": 18.85, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 18.85, "te": 19.52, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 19.52, "te": 20.1, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 20.1, "te": 22.28, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 22.28, "te": 23.1, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 23.1, "te": 23.78, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 23.78, "te": 24.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 24.18, "te": 25.05, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 25.05, "te": 25.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 25.75, "te": 26.38, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 26.38, "te": 26.72, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 26.72, "te": 27.05, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 27.05, "te": 27.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keyboard tray", "ts": 27.38, "te": 27.93, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the keyboard tray onto the keyboard trays on the left", "ts": 27.93, "te": 28.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 28.42, "te": 29.2, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the white keycap on the table", "ts": 29.2, "te": 30.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 30.27, "te": 30.97, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 30.97, "te": 31.62, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 31.62, "te": 32.33, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 32.33, "te": 32.82, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 32.82, "te": 33.13, 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"HandOver": 2, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Pick", "Place", "Press"], "valids": {"hand_state/left": 0.9968, "hand_state/right": 0.9968, "head_camera/valid": 0.9968, "head_state/valid": 0.9968, "left_end/valid": 0.9968, "left_hand/valid": 0.9968, "right_end/valid": 0.9968, "right_hand/valid": 0.9968}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 1.3, "te": 2.0, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 2.0, "te": 2.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 2.93, "te": 3.27, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 3.27, "te": 3.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the keyboard", "ts": 3.82, "te": 4.28, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 4.28, "te": 4.53, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 4.53, "te": 4.88, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 4.88, "te": 5.32, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 5.32, "te": 5.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 5.77, "te": 6.68, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the keycap to the right hand", "ts": 6.68, "te": 7.2, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 7.2, "te": 7.7, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the 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"mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 17.87, "te": 18.28, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 18.28, "te": 18.8, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 18.8, "te": 19.22, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 19.22, "te": 20.05, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 20.05, "te": 20.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 20.63, "te": 21.15, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 21.15, "te": 22.57, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 22.57, "te": 23.63, "mistake": false}, {"skill": "Pick", "label": "Left hand 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"ts": 27.65, "te": 28.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 28.13, "te": 28.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 28.82, "te": 29.23, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 29.23, "te": 29.73, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the keyboard", "ts": 29.73, "te": 30.32, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 30.32, "te": 30.82, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 30.82, "te": 31.42, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the keycap to the right hand", "ts": 31.42, "te": 31.77, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 31.77, "te": 32.28, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 32.28, "te": 33.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 33.3, "te": 33.83, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 33.83, "te": 34.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 34.45, "te": 34.93, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 34.93, "te": 35.35, "mistake": false}]}, {"slug": "task_15648_ep002", "kind": "wild", "task": "task_15648", "ep": 2, "short": "Mouse & keyboard assembly", "task_name": "Assembly of complete mouse and keyboard units", "instruction": "Place the white keycap on the keyboard and press it", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": 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cooperate to place the pink pants on the sofa", "ts": 2.4, "te": 5.45, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the pink pants to the right", "ts": 5.45, "te": 7.6, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the pink pants upward", "ts": 7.6, "te": 10.0, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the folded pink pants", "ts": 10.0, "te": 10.85, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the folded pink pants on the sofa", "ts": 10.85, "te": 11.57, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the folded pink pants on the left side of the sofa", "ts": 11.57, "te": 12.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the purple pants", "ts": 12.87, "te": 13.77, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the purple pants on the 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24.83, "mistake": false}]}, {"slug": "task_16207_ep008", "kind": "sim", "task": "task_16207", "ep": 8, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water", "duration": 13.15, "nframes": 790, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Pour": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 0.9962, "hand_state/right": 0.9962, "head_camera/valid": 0.9962, "head_state/valid": 0.9962, "left_end/valid": 0.9962, "left_hand/valid": 0.9962, "right_end/valid": 0.9962, "right_hand/valid": 0.9962}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up the kettle on the table", "ts": 0.0, "te": 1.83, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the water from the kettle into the cup", "ts": 1.83, "te": 9.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the kettle on the table", "ts": 9.92, "te": 13.17, "mistake": false}]}, {"slug": "task_16207_ep009", "kind": "sim", "task": "task_16207", "ep": 9, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.3, "te": 4.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 4.07, "te": 6.28, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 6.28, "te": 8.18, "mistake": false}]}, {"slug": "task_16207_ep010", "kind": "sim", "task": "task_16207", "ep": 10, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 30.7, "nframes": 1843, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 5, "Place": 3, "Straighten": 2, "Scan": 2, "Open": 1}, "skill_list": ["Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9908, "hand_state/right": 0.9908, "head_camera/valid": 0.9908, "head_state/valid": 0.9908, "left_end/valid": 0.9908, "left_hand/valid": 0.9908, "right_end/valid": 0.9908, "right_hand/valid": 0.9908}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.4, "te": 5.6, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 5.6, "te": 10.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.25, "te": 11.75, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 11.75, "te": 14.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.7, "te": 16.12, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 16.12, "te": 20.65, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 20.65, "te": 21.72, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 21.72, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 23.98, "te": 25.35, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.35, "te": 26.85, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.85, "te": 28.27, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 28.27, "te": 30.7, "mistake": false}]}, {"slug": "task_16207_ep011", "kind": "sim", "task": "task_16207", "ep": 11, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 38.02, "nframes": 2282, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 12, "Place": 12, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 0.0, "te": 2.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 2.87, "te": 4.7, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 4.7, "te": 5.65, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 5.65, "te": 6.77, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 6.77, "te": 7.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 7.92, "te": 8.95, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 8.95, "te": 9.9, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 9.9, "te": 10.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 10.98, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 12.57, "te": 14.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 14.05, "te": 15.4, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 15.4, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 16.67, "te": 18.25, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 18.25, "te": 19.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 19.58, "te": 20.82, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 20.82, "te": 22.12, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 22.12, "te": 24.38, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 24.38, "te": 25.43, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 25.43, "te": 26.77, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 26.77, "te": 27.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 27.75, "te": 29.22, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 29.22, "te": 30.22, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 30.22, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 31.58, "te": 32.6, "mistake": false}, {"skill": "Close", "label": "Both hands cooperate to close the tool box", "ts": 32.6, "te": 36.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the tool box", "ts": 36.05, "te": 38.02, "mistake": false}]}, {"slug": "task_16207_ep012", "kind": "sim", "task": "task_16207", "ep": 12, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the folder into the file rack", "duration": 7.2, "nframes": 433, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.25, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue folder into the file rack", "ts": 2.25, "te": 5.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue folder on the table", "ts": 5.07, "te": 7.2, "mistake": false}]}, {"slug": "task_16207_ep013", "kind": "sim", "task": "task_16207", "ep": 13, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 43.76, "nframes": 2626, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 8, "Place": 8, "Straighten": 5, "Scan": 3, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9996, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9996, "right_hand/valid": 0.9996}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a plastic bag from the table", "ts": 0.0, "te": 1.8, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a plastic bag to the left hand", "ts": 1.8, "te": 2.58, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a plastic bag on the table", "ts": 2.58, "te": 3.4, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 3.4, "te": 8.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.35, "te": 9.8, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 9.8, "te": 10.48, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 10.48, "te": 11.62, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 11.62, "te": 14.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 14.18, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 15.0, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 16.67, "te": 18.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 18.1, "te": 20.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 20.12, "te": 21.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 21.23, "te": 23.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 23.3, "te": 24.7, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 24.7, "te": 25.68, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 25.68, "te": 27.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 27.3, "te": 28.88, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 28.88, "te": 31.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 31.0, "te": 32.3, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 32.3, "te": 36.1, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 36.1, "te": 37.23, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 37.23, "te": 39.2, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the packed plastic bag", "ts": 39.2, "te": 40.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 40.58, "te": 41.72, "mistake": false}, {"skill": "Place", "label": "The right hand places the packed plastic bag on the table", "ts": 41.72, "te": 43.75, "mistake": false}]}, {"slug": "task_16207_ep014", "kind": "sim", "task": "task_16207", "ep": 14, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 17.75, "nframes": 1066, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 4, "Place": 4, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 3.22, "te": 4.92, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green pen on the table", "ts": 4.92, "te": 5.9, "mistake": false}, {"skill": "Place", "label": "The right hand puts a green pen into the pen holder", "ts": 5.9, "te": 7.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red pen on the table", "ts": 7.5, "te": 9.5, "mistake": false}, {"skill": "Place", "label": "The right hand puts a red pen into the pen holder", "ts": 9.5, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 11.23, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 12.57, "te": 14.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the white crumpled paper on the table", "ts": 14.63, "te": 15.72, "mistake": false}, {"skill": "Place", "label": "The left hand throws the white crumpled paper into the trash can", "ts": 15.72, "te": 17.75, "mistake": false}]}, {"slug": "task_16207_ep015", "kind": "sim", "task": "task_16207", "ep": 15, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.88, "nframes": 1974, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 5, "Pick": 4, "HandOver": 1, "Open": 1, "Tear": 1, "Straighten": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 2.05, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 2.05, "te": 2.92, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.92, "te": 7.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 7.12, "te": 8.23, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.23, "te": 13.47, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the packaging bag on the table", "ts": 13.47, "te": 14.15, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.15, "te": 15.97, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a thin tube into the packaging bag", "ts": 15.97, "te": 18.3, "mistake": false}, {"skill": "Tear", "label": "Both hands cooperate to tear off the sealing strip on the packaging bag", "ts": 18.3, "te": 21.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 21.5, "te": 23.27, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 23.27, "te": 25.82, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 25.82, "te": 29.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.37, "te": 30.72, "mistake": false}, {"skill": "Place", "label": "The left hand places the packaging bag on the table", "ts": 30.72, "te": 32.88, "mistake": false}]}, {"slug": "task_16207_ep016", "kind": "sim", "task": "task_16207", "ep": 16, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make shaved ice", "duration": 57.4, "nframes": 3444, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 8, "Place": 8, "Pour": 4, "Takeout (remove)": 2, "Rotate": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 1.97, "mistake": false}, {"skill": "Place", "label": "The right hand places the shaved ice machine lid on the table", "ts": 1.97, "te": 3.17, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic cup on the table", "ts": 3.17, "te": 4.0, "mistake": false}, {"skill": "Pour", "label": "The right hand pours the ice cubes from the plastic cup into the shaved ice machine", "ts": 4.0, "te": 6.03, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic cup on the table", "ts": 6.03, "te": 6.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the shaved ice machine lid on the table", "ts": 6.75, "te": 8.43, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 8.43, "te": 11.57, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 11.57, "te": 32.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic and box inside the shaved ice machine", "ts": 32.2, "te": 33.52, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the spoon on the table", "ts": 33.52, "te": 34.65, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use the spoon to pour the slush from the plastic box into the mug", "ts": 34.65, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon in the saucer", "ts": 40.98, "te": 41.45, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 41.45, "te": 43.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the small spoon from the topping box", "ts": 43.3, "te": 44.7, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 44.7, "te": 45.5, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 45.5, "te": 46.97, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 46.97, "te": 48.88, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 48.88, "te": 50.27, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon on the topping box", "ts": 50.27, "te": 51.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the transparent spoon inside the transparent cup", "ts": 51.67, "te": 53.0, "mistake": false}, {"skill": "Place", "label": "The left hand puts the transparent spoon into the mug", "ts": 53.0, "te": 54.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the mug", "ts": 54.28, "te": 54.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the mug on the coaster", "ts": 54.87, "te": 57.38, "mistake": false}]}, {"slug": "task_16207_ep017", "kind": "sim", "task": "task_16207", "ep": 17, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Rinse": 3, "Place": 3, "Pick": 3, "HandOver": 1, "Wipe": 1}, "skill_list": ["HandOver", "Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.96, "hand_state/right": 0.9954, "head_camera/valid": 0.9954, "head_state/valid": 0.9954, "left_end/valid": 0.96, "left_hand/valid": 0.96, "right_end/valid": 0.9954, "right_hand/valid": 0.9954}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Rinse", "label": "Both hands work together to rinse a red cup under the faucet", "ts": 0.0, "te": 13.0, "mistake": false}, {"skill": "Place", "label": "The left hand places a red cup on the table", "ts": 13.0, "te": 14.0, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the yellow sponge on the table", "ts": 14.0, "te": 14.87, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the yellow sponge to the right hand", "ts": 14.87, "te": 15.53, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a dark-colored cup from the sink", "ts": 15.53, "te": 16.95, "mistake": false}, {"skill": "Wipe", "label": "Both hands coordinate to wipe a dark cup with a yellow sponge", "ts": 16.95, "te": 25.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the yellow sponge on the table", "ts": 25.5, "te": 28.6, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a dark-colored cup under the faucet", "ts": 28.6, "te": 34.03, "mistake": false}, {"skill": "Place", "label": "The left hand places a dark-colored cup on the table", "ts": 34.03, "te": 35.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white cup from the sink", "ts": 35.25, "te": 37.0, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup under the faucet", "ts": 37.0, "te": 40.0, "mistake": false}]}, {"slug": "task_16207_ep018", "kind": "sim", "task": "task_16207", "ep": 18, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.97, "nframes": 1619, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 18, "skills": {"Pick": 7, "Place": 7, "Straighten": 4}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8172, "hand_state/right": 0.9901, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8172, "left_hand/valid": 0.8172, "right_end/valid": 0.9901, "right_hand/valid": 0.9901}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 2.17, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 2.17, "te": 3.68, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 3.68, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 6.77, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the blue triangle", "ts": 6.77, "te": 8.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 8.58, "te": 9.4, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 9.4, "te": 10.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 10.33, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 11.23, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 13.02, "te": 14.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 14.8, "te": 16.33, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 16.33, "te": 17.72, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 17.72, "te": 18.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 18.97, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 20.18, "te": 22.27, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the red triangle", "ts": 22.27, "te": 22.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 22.98, "te": 24.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 24.85, "te": 26.97, "mistake": false}]}, {"slug": "task_16207_ep019", "kind": "sim", "task": "task_16207", "ep": 19, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the robot", "duration": 9.9, "nframes": 595, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "plug": 1, "HandOver": 1, "Straighten": 1, "Plug": 1}, "skill_list": ["HandOver", "Pick", "Plug", "Straighten", "plug"], "valids": {"hand_state/left": 0.9782, "hand_state/right": 0.9782, "head_camera/valid": 0.9782, "head_state/valid": 0.9782, "left_end/valid": 0.9782, "left_hand/valid": 0.9782, "right_end/valid": 0.9782, "right_hand/valid": 0.9782}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the blue plug on the floor", "ts": 0.0, "te": 0.97, "mistake": false}, {"skill": "plug", "label": "Right hand inserts the blue plug into the base", "ts": 0.97, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black plug on the floor", "ts": 3.3, "te": 4.15, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the black plug to the left hand", "ts": 4.15, "te": 4.65, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the wire", "ts": 4.65, "te": 5.57, "mistake": false}, {"skill": "Plug", "label": "Left hand inserts the black plug into the floor socket", "ts": 5.57, "te": 9.9, "mistake": false}]}, {"slug": "task_16207_ep020", "kind": "sim", "task": "task_16207", "ep": 20, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 16.25, "nframes": 976, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 3, "Straighten": 3, "Place": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 0.0, "te": 2.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 2.23, "te": 3.62, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 3.62, "te": 5.42, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 5.42, "te": 7.58, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes an item to the left hand", "ts": 7.58, "te": 8.35, "mistake": false}, {"skill": "Place", "label": "The left hand places an item on the shelf", "ts": 8.35, "te": 9.57, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the item", "ts": 9.57, "te": 10.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 10.82, "te": 13.05, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 13.05, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 14.28, "te": 16.25, "mistake": false}]}, {"slug": "task_16207_ep021", "kind": "sim", "task": "task_16207", "ep": 21, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 13.75, "nframes": 826, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Insert": 1, "PressButton": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "PressButton"], "valids": {"hand_state/left": 0.9189, "hand_state/right": 0.9189, "head_camera/valid": 0.9189, "head_state/valid": 0.9189, "left_end/valid": 0.9189, "left_hand/valid": 0.9189, "right_end/valid": 0.9189, "right_hand/valid": 0.9189}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 1.3, "te": 3.62, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 3.62, "te": 4.67, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 4.67, "te": 12.1, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the VR glasses on the table", "ts": 12.1, "te": 13.77, "mistake": false}]}, {"slug": "task_16207_ep022", "kind": "sim", "task": "task_16207", "ep": 22, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 30.27, "nframes": 1817, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Place": 2, "Pick": 2, "Pour": 1, "HandOver": 1, "Rinse": 1, "Close": 1, "Wipe": 1}, "skill_list": ["Close", "HandOver", "Pick", "Place", "Pour", "Rinse", "Wipe"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pour", "label": "Both hands work together to pour the water from a transparent cup into the sink", "ts": 0.0, "te": 0.27, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a transparent cup to the right hand", "ts": 0.27, "te": 0.77, "mistake": false}, {"skill": "Place", "label": "The right hand places a transparent cup on the table", "ts": 0.77, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a dark-colored cup from the sink", "ts": 2.13, "te": 3.13, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse a dark cup", "ts": 3.13, "te": 8.92, "mistake": false}, {"skill": "Close", "label": "The right hand turns off the faucet", "ts": 8.92, "te": 9.43, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge on the table", "ts": 9.43, "te": 10.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge into a dark-colored cup", "ts": 10.4, "te": 11.43, "mistake": false}, {"skill": "Wipe", "label": "Both hands work together to wipe a dark-colored cup", "ts": 11.43, "te": 30.27, "mistake": false}]}, {"slug": "task_16207_ep023", "kind": "sim", "task": "task_16207", "ep": 23, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up folders", "duration": 5.52, "nframes": 332, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.73, "mistake": false}, {"skill": "Place", "label": "Left hand puts a blue folder into the file rack", "ts": 2.73, "te": 5.52, "mistake": false}]}, {"slug": "task_16207_ep024", "kind": "sim", "task": "task_16207", "ep": 24, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 18.8, "nframes": 1129, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 1, "Insert": 1, "Rotate": 1, "Press": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "Press", "Rotate"], "valids": {"hand_state/left": 0.9911, "hand_state/right": 0.93, "head_camera/valid": 0.9911, "head_state/valid": 0.9911, "left_end/valid": 0.9911, "left_hand/valid": 0.9911, "right_end/valid": 0.93, "right_hand/valid": 0.93}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 4.3, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 4.3, "te": 7.0, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 7.0, "te": 8.85, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 8.85, "te": 16.55, "mistake": false}, {"skill": "Place", "label": "Both hands place the white glasses on the table", "ts": 16.55, "te": 18.8, "mistake": false}]}, {"slug": "task_16207_ep025", "kind": "sim", "task": "task_16207", "ep": 25, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.78, "nframes": 2028, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 12, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right 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"instruction": "Store toys", "duration": 32.23, "nframes": 1935, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 11, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.6481, "hand_state/right": 0.5432, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6481, "left_hand/valid": 0.6481, "right_end/valid": 0.5432, "right_hand/valid": 0.5432}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow toy on the sofa", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "The right hand puts a yellow toy into the basket", "ts": 1.6, "te": 2.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue toy on the 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12.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts an orange toy into the basket", "ts": 12.78, "te": 13.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 13.63, "te": 14.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 14.78, "te": 15.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 15.67, "te": 17.13, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 17.13, "te": 19.03, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 19.03, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 20.18, "te": 21.92, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 21.92, "te": 23.42, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 23.42, "te": 25.1, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the basket on the sofa", "ts": 25.1, "te": 27.02, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the basket on the table", "ts": 27.02, "te": 32.23, "mistake": false}]}, {"slug": "task_16207_ep027", "kind": "sim", "task": "task_16207", "ep": 27, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.85, "nframes": 2272, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 4, "Place": 4, "Straighten": 2, "HandOver": 1, "Open": 1, "Tear": 1, "Close": 1}, "skill_list": 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"mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 16.75, "te": 18.47, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a straw from the cup", "ts": 18.47, "te": 20.07, "mistake": false}, {"skill": "Place", "label": "The right hand puts a straw into the packaging bag", "ts": 20.07, "te": 22.32, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 22.32, "te": 29.5, "mistake": false}, {"skill": "Tear", "label": "Both hands coordinate to tear off the packaging strip on the packaging bag", "ts": 29.5, "te": 31.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 31.75, "te": 32.63, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 32.63, "te": 35.22, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the packed 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the product code", "ts": 36.32, "te": 38.68, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 38.68, "te": 40.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 40.05, "te": 42.8, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 42.8, "te": 45.08, "mistake": false}, {"skill": "Place", "label": "The left hand puts an item into the plastic bag while the right hand places the barcode scanner on the table", "ts": 45.08, "te": 47.48, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the plastic bag on the counter", "ts": 47.48, "te": 50.52, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the plastic bag on the counter", "ts": 50.52, "te": 52.72, "mistake": false}]}, {"slug": "task_16207_ep029", "kind": "sim", "task": "task_16207", "ep": 29, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 23.48, "nframes": 1410, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 4, "Place": 4, "Press": 3, "Close": 2}, "skill_list": ["Close", "Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the screwdriver on the table", "ts": 0.0, "te": 1.97, "mistake": false}, {"skill": "Place", "label": "Right hand puts the screwdriver into the toolbox", "ts": 1.97, "te": 3.6, "mistake": false}, {"skill": "Press", "label": "Right hand presses the screwdriver in the toolbox", "ts": 3.6, "te": 5.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the tape on the table", "ts": 5.03, "te": 6.73, "mistake": false}, {"skill": "Place", "label": "Right hand puts the tape into the toolbox", "ts": 6.73, "te": 9.58, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pliers on the table", "ts": 9.58, "te": 11.43, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pliers into the toolbox", "ts": 11.43, "te": 13.83, "mistake": false}, {"skill": "Press", "label": "Right hand presses the pliers in the toolbox", "ts": 13.83, "te": 15.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the test pen on the table", "ts": 15.1, "te": 16.83, "mistake": false}, {"skill": "Place", "label": "Left hand puts the test pen into the toolbox", "ts": 16.83, "te": 18.5, "mistake": false}, {"skill": "Press", "label": "Left hand presses the test pen in the toolbox", "ts": 18.5, "te": 19.67, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the box", "ts": 19.67, "te": 22.43, "mistake": false}, {"skill": "Close", "label": "Both hands close the box latch", "ts": 22.43, "te": 23.48, "mistake": false}]}, {"slug": "task_16207_ep030", "kind": "sim", "task": "task_16207", "ep": 30, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the mouse and keyboard", "duration": 5.17, "nframes": 311, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Straighten": 2, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.7942, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.7942, "left_hand/valid": 0.7942, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the keyboard on the desktop", "ts": 0.0, "te": 1.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the keyboard on the desktop", "ts": 1.17, "te": 2.47, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the mouse", "ts": 2.47, "te": 3.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the keyboard", "ts": 3.97, "te": 5.17, "mistake": false}]}, {"slug": "task_16207_ep031", "kind": "sim", "task": "task_16207", "ep": 31, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up snacks", "duration": 14.07, "nframes": 845, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 3, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.9953, "hand_state/right": 0.9953, "head_camera/valid": 0.9953, "head_state/valid": 0.9953, "left_end/valid": 0.9953, "left_hand/valid": 0.9953, "right_end/valid": 0.9953, "right_hand/valid": 0.9953}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 2.1, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 2.1, "te": 4.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 4.18, "te": 5.83, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 5.83, "te": 8.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 8.7, "te": 11.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 11.35, "te": 14.07, "mistake": false}]}, {"slug": "task_16207_ep032", "kind": "sim", "task": "task_16207", "ep": 32, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the kitchen", "duration": 13.8, "nframes": 829, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 3, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 0.0, "te": 2.9, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 2.9, "te": 5.8, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 5.8, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 7.75, "te": 9.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 9.85, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 11.15, "te": 13.8, "mistake": false}]}, {"slug": "task_16207_ep033", "kind": "sim", "task": "task_16207", "ep": 33, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 20.83, "nframes": 1251, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Place": 4, "Pick": 3, "Press": 2, "Close": 2, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Press", "Straighten"], "valids": {"hand_state/left": 0.9904, "hand_state/right": 0.9904, "head_camera/valid": 0.9904, "head_state/valid": 0.9904, "left_end/valid": 0.9904, "left_hand/valid": 0.9904, "right_end/valid": 0.9904, "right_hand/valid": 0.9904}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand puts the hammer into the toolbox", "ts": 0.0, "te": 1.63, "mistake": false}, {"skill": "Press", "label": "Right hand presses the hammer in the toolbox", "ts": 1.63, "te": 2.52, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pliers on the table", "ts": 2.52, "te": 4.5, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pliers into the toolbox", "ts": 4.5, "te": 5.75, "mistake": false}, {"skill": "Press", "label": "Right hand presses the pliers in the toolbox", "ts": 5.75, "te": 7.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the tape measure on the table", "ts": 7.03, "te": 9.18, "mistake": false}, {"skill": "Place", "label": "Left hand puts the tape measure into the toolbox", "ts": 9.18, "te": 11.4, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the utility knife on the table", "ts": 11.4, "te": 12.75, "mistake": false}, {"skill": "Place", "label": "Left hand puts the utility knife into the toolbox", "ts": 12.75, "te": 15.05, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox", "ts": 15.05, "te": 17.38, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox latch", "ts": 17.38, "te": 19.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the toolbox", "ts": 19.03, "te": 20.83, "mistake": false}]}, {"slug": "task_16207_ep034", "kind": "sim", "task": "task_16207", "ep": 34, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods into the shopping basket", "duration": 8.45, "nframes": 508, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 0.0, "te": 3.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a bag of goods into the shopping basket", "ts": 3.63, "te": 5.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 5.4, "te": 8.45, "mistake": false}]}, {"slug": "task_16207_ep035", "kind": "sim", "task": "task_16207", "ep": 35, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store toys", "duration": 8.55, "nframes": 514, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Place": 4}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.8385, "hand_state/right": 0.9261, "head_camera/valid": 0.9689, "head_state/valid": 0.9689, "left_end/valid": 0.8385, "left_hand/valid": 0.8385, "right_end/valid": 0.9261, "right_hand/valid": 0.9261}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 0.0, "te": 1.5, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 1.5, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 2.13, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 3.65, "te": 4.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up a purple toy", "ts": 4.1, "te": 5.48, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts a purple toy into the toy basket", "ts": 5.48, "te": 6.47, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the toy basket", "ts": 6.47, "te": 7.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the toy basket on the table", "ts": 7.15, "te": 8.55, "mistake": false}]}, {"slug": "task_16207_ep036", "kind": "sim", "task": "task_16207", "ep": 36, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 47.5, "nframes": 2850, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 8, "Straighten": 3, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9993, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9993, "right_hand/valid": 0.9993}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 4.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 4.17, "te": 6.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 6.85, "te": 10.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.23, "te": 12.4, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 12.4, "te": 14.72, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.72, "te": 15.73, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 15.73, "te": 18.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 18.0, "te": 19.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 19.17, "te": 21.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 21.23, "te": 23.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 23.2, "te": 25.02, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 25.02, "te": 27.63, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 27.63, "te": 28.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 28.65, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.87, "te": 31.53, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.53, "te": 33.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 33.25, "te": 34.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 34.77, "te": 37.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 37.75, "te": 39.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 39.07, "te": 40.98, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag", "ts": 40.98, "te": 44.87, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 44.87, "te": 47.48, "mistake": false}]}, {"slug": "task_16207_ep037", "kind": "sim", "task": "task_16207", "ep": 37, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 11.92, "nframes": 716, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Drop": 2, "Close": 1, "Straighten": 1, "Place": 1}, "skill_list": ["Close", "Drop", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 2.6, "te": 4.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 4.23, "te": 5.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 5.42, "te": 7.28, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 7.28, "te": 8.4, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 8.4, "te": 9.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 9.33, "te": 10.02, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a white crumpled paper ball into the trash can", "ts": 10.02, "te": 10.73, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 10.73, "te": 11.92, "mistake": false}]}, {"slug": "task_16207_ep038", "kind": "sim", "task": "task_16207", "ep": 38, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the shelf", "duration": 21.73, "nframes": 1305, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 1.92, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the snack is held", "ts": 1.92, "te": 3.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 3.37, "te": 5.55, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 5.55, "te": 8.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 8.15, "te": 10.95, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 10.95, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 14.28, "te": 16.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 16.77, "te": 18.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting the way the snack is held", "ts": 18.97, "te": 21.73, "mistake": false}]}, {"slug": "task_16207_ep039", "kind": "sim", "task": "task_16207", "ep": 39, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.95, "nframes": 1618, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 19, "skills": {"Pick": 7, "Place": 7, "Straighten": 4, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.6916, "hand_state/right": 0.9981, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6916, "left_hand/valid": 0.6916, "right_end/valid": 0.9981, "right_hand/valid": 0.9981}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 0.0, "te": 1.23, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 1.23, "te": 2.55, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 2.55, "te": 3.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 3.85, "te": 5.07, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the yellow triangle", "ts": 5.07, "te": 8.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 8.22, "te": 9.65, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 9.65, "te": 10.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 10.97, "te": 12.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a brown triangle on the table", "ts": 12.25, "te": 13.67, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a brown triangle to the right hand", "ts": 13.67, "te": 14.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 14.6, "te": 15.82, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the wooden frame", "ts": 15.82, "te": 16.6, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 16.6, "te": 17.4, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 17.4, "te": 19.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green square on the table", "ts": 19.33, "te": 20.7, "mistake": false}, {"skill": "Place", "label": "Left hand puts a green square into the wooden frame", "ts": 20.7, "te": 22.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue triangle on the table", "ts": 22.22, "te": 23.75, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a blue triangle into the wooden frame", "ts": 23.75, "te": 25.2, "mistake": 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iron box held by the left hand", "ts": 26.05, "te": 26.6, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a black object from the floor", "ts": 26.6, "te": 27.82, "mistake": false}, {"skill": "Place", "label": "The right hand puts a black object into the iron box held by the left hand", "ts": 27.82, "te": 28.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a black object from the floor", "ts": 28.25, "te": 29.08, "mistake": false}, {"skill": "Place", "label": "The right hand puts a black object into the iron box held by the left hand", "ts": 29.08, "te": 29.72, "mistake": false}]}, {"slug": "task_16207_ep059", "kind": "sim", "task": "task_16207", "ep": 59, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the glass cup", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": 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the faucet", "ts": 8.5, "te": 9.1, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse the transparent glass cup", "ts": 9.1, "te": 22.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow sponge", "ts": 22.5, "te": 24.3, "mistake": false}, {"skill": "Wipe", "label": "The right hand wipes the transparent glass cup", "ts": 24.3, "te": 30.97, "mistake": false}]}, {"slug": "task_16207_ep060", "kind": "sim", "task": "task_16207", "ep": 60, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR headset", "duration": 17.65, "nframes": 1060, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 1, "plug": 1, "PressButton": 1, "Straighten": 1}, "skill_list": ["Pick", "PressButton", "Straighten", "plug"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.62, "mistake": false}, {"skill": "plug", "label": "Both hands work together to plug the charging cable into the VR headset", "ts": 1.62, "te": 4.42, "mistake": false}, {"skill": "PressButton", "label": "Both hands work together to press the button on the VR headset", "ts": 4.42, "te": 7.0, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the charging cable on the VR headset", "ts": 7.0, "te": 17.65, "mistake": false}]}, {"slug": "task_16207_ep061", "kind": "sim", "task": "task_16207", "ep": 61, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Rotate": 1, "Straighten": 1}, "skill_list": ["Rotate", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Rotate", "label": "Dual arms coordinate to rotate the chair", "ts": 0.0, "te": 4.4, "mistake": false}, {"skill": "Straighten", "label": "Dual arms coordinate to adjust the position of the chair", "ts": 4.4, "te": 8.18, "mistake": false}]}, {"slug": "task_16207_ep062", "kind": "sim", "task": "task_16207", "ep": 62, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 15.35, "nframes": 922, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Insert": 1, "PressButton": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "PressButton"], "valids": {"hand_state/left": 0.9967, "hand_state/right": 0.9967, "head_camera/valid": 0.9967, "head_state/valid": 0.9967, "left_end/valid": 0.9967, "left_hand/valid": 0.9967, "right_end/valid": 0.9967, "right_hand/valid": 0.9967}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.07, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 1.07, "te": 4.78, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 4.78, "te": 5.68, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 5.68, "te": 14.08, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the VR glasses on the table", "ts": 14.08, "te": 15.37, "mistake": false}]}, {"slug": "task_16207_ep063", "kind": "sim", "task": "task_16207", "ep": 63, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Hang clothes", "duration": 25.17, "nframes": 1511, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Hang": 2}, "skill_list": ["Hang", "Pick", "Straighten"], "valids": {"hand_state/left": 0.9603, "hand_state/right": 0.9252, "head_camera/valid": 0.9676, "head_state/valid": 0.9676, "left_end/valid": 0.9603, "left_hand/valid": 0.9603, "right_end/valid": 0.9252, "right_hand/valid": 0.9252}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the bed", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the hanger on the clothes drying rod", "ts": 2.47, "te": 5.32, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a hanger from the clothes drying rod", "ts": 5.32, "te": 6.8, "mistake": false}, {"skill": "Hang", "label": "Both hands work together to hang the clothing on the hanger", "ts": 6.8, "te": 13.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothing on the hanger", "ts": 13.58, "te": 22.2, "mistake": false}, {"skill": "Hang", "label": "The right hand hangs the clothing on the clothes drying rod", "ts": 22.2, "te": 25.17, "mistake": false}]}, {"slug": "task_16207_ep064", "kind": "sim", "task": "task_16207", "ep": 64, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water", "duration": 22.43, "nframes": 1347, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pour": 2, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 2.45, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the glass on the table", "ts": 2.45, "te": 9.37, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the mug on the table", "ts": 9.37, "te": 18.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 18.45, "te": 22.43, "mistake": false}]}, {"slug": "task_16207_ep065", "kind": "sim", "task": "task_16207", "ep": 65, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 23.25, "nframes": 1396, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 16, "skills": {"Pick": 6, "Place": 6, "Straighten": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.3646, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.3646, "left_hand/valid": 0.3646, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 0.0, "te": 1.43, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 1.43, "te": 3.42, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 3.42, "te": 4.45, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 4.45, "te": 6.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 6.2, "te": 8.72, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 8.72, "te": 10.63, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the tangram pieces inside the wooden frame", "ts": 10.63, "te": 12.58, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the brown triangle", "ts": 12.58, "te": 13.53, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 13.53, "te": 14.57, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 14.57, "te": 16.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 16.4, "te": 17.75, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 17.75, "te": 19.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the table", "ts": 19.03, "te": 19.75, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes an orange parallelogram to the right hand", "ts": 19.75, "te": 20.3, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 20.3, "te": 21.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the wooden frame", "ts": 21.97, "te": 23.25, "mistake": false}]}, {"slug": "task_16207_ep066", "kind": "sim", "task": "task_16207", "ep": 66, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 32.32, "nframes": 1940, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 2.78, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 2.78, "te": 14.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 14.17, "te": 14.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 14.73, "te": 16.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 16.58, "te": 28.15, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 28.15, "te": 28.82, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 28.82, "te": 32.32, "mistake": false}]}, {"slug": "task_16207_ep067", "kind": "sim", "task": "task_16207", "ep": 67, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 28.67, "nframes": 1721, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Left hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 2.25, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 2.25, "te": 13.45, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 13.45, "te": 14.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 14.42, "te": 16.87, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 16.87, "te": 26.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 26.07, "te": 27.37, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 27.37, "te": 28.67, "mistake": false}]}, {"slug": "task_16207_ep068", "kind": "sim", "task": "task_16207", "ep": 68, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 6.17, "nframes": 371, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8194, "hand_state/right": 0.8706, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8194, "left_hand/valid": 0.8194, "right_end/valid": 0.8706, "right_hand/valid": 0.8706}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a black piece of clothing from the basket", "ts": 0.0, "te": 1.38, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the black clothing", "ts": 1.38, "te": 2.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a black piece of clothing into the washing machine", "ts": 2.35, "te": 2.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a green piece of clothing from the basket", "ts": 2.98, "te": 3.88, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the green clothing", "ts": 3.88, "te": 4.93, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 4.93, "te": 6.17, "mistake": false}]}, {"slug": "task_16207_ep069", "kind": "sim", "task": "task_16207", "ep": 69, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 13.37, "nframes": 803, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Drop": 3, "Place": 1}, "skill_list": ["Drop", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 0.0, "te": 1.77, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 1.77, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 3.3, "te": 4.57, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 4.57, "te": 6.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 6.03, "te": 7.2, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 7.2, "te": 9.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 9.27, "te": 11.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 11.0, "te": 13.37, "mistake": false}]}, {"slug": "task_16207_ep070", "kind": "sim", "task": "task_16207", "ep": 70, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.87, "nframes": 533, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.6, "te": 5.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 5.3, "te": 7.47, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 7.47, "te": 8.87, "mistake": false}]}, {"slug": "task_16207_ep071", "kind": "sim", "task": "task_16207", "ep": 71, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 27.02, "nframes": 1622, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 3, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands coordinate to pick up a bag of snacks from the shopping basket", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 2.3, "te": 7.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 7.0, "te": 9.72, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 9.72, "te": 17.35, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the label", "ts": 17.35, "te": 18.35, "mistake": false}, {"skill": "Straighten", "label": "Left hand adjusts the position of a bag of snacks while right hand adjusts the position of the label", "ts": 18.35, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 19.48, "te": 21.4, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 21.4, "te": 27.02, "mistake": false}]}, {"slug": "task_16207_ep072", "kind": "sim", "task": "task_16207", "ep": 72, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 27.1, "nframes": 1627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 17, "skills": {"Pick": 7, "Place": 7, "Straighten": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9226, "hand_state/right": 0.9779, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9226, "left_hand/valid": 0.9226, "right_end/valid": 0.9779, "right_hand/valid": 0.9779}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 1.6, "te": 4.27, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 4.27, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 7.1, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 7.1, "te": 8.75, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 8.75, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 10.35, "te": 11.45, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 11.45, "te": 12.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 12.87, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the orange parallelogram", "ts": 14.23, "te": 15.65, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 15.65, "te": 17.17, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 17.17, "te": 20.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 20.05, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 21.6, "te": 22.42, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the brown triangle", "ts": 22.42, "te": 24.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 24.3, "te": 25.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 25.82, "te": 27.1, "mistake": false}]}, {"slug": "task_16207_ep073", "kind": "sim", "task": "task_16207", "ep": 73, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the wrench into the tool box", "duration": 5.45, "nframes": 328, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Place": 1, "Press": 1}, "skill_list": ["Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the wrench on the table", "ts": 0.0, "te": 2.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the wrench into the tool box", "ts": 2.18, "te": 3.62, "mistake": false}, {"skill": "Press", "label": "The right hand presses the wrench inside the tool box", "ts": 3.62, "te": 5.45, "mistake": false}]}, {"slug": "task_16207_ep074", "kind": "sim", "task": "task_16207", "ep": 74, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 46.63, "nframes": 2799, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 7, "Place": 7, "Straighten": 3, "Scan": 3, "Open": 1, "HandOver": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.28, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.28, "te": 6.45, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 6.45, "te": 11.97, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 11.97, "te": 13.32, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 13.32, "te": 16.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 16.0, "te": 17.15, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 17.15, "te": 20.52, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 20.52, "te": 21.93, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the product to the right hand", "ts": 21.93, "te": 22.6, "mistake": false}, {"skill": "Place", "label": "The right hand places a product into the plastic bag", "ts": 22.6, "te": 24.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 24.28, "te": 25.57, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.57, "te": 26.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.98, "te": 28.33, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 28.33, "te": 31.22, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 31.22, "te": 32.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 32.17, "te": 33.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 33.98, "te": 35.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 35.33, "te": 37.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 37.35, "te": 38.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 38.77, "te": 43.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 43.8, "te": 45.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 45.15, "te": 46.63, "mistake": false}]}, {"slug": "task_16207_ep075", "kind": "sim", "task": "task_16207", "ep": 75, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 43.07, "nframes": 2584, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 30, "skills": {"Pick": 15, "Place": 14, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 0.0, "te": 1.95, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 1.95, "te": 3.43, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 3.43, "te": 4.78, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 4.78, "te": 6.2, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 6.2, "te": 7.62, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.62, "te": 8.77, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 8.77, "te": 10.52, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 10.52, "te": 11.6, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.6, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 14.07, "te": 15.25, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 15.25, "te": 16.38, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 16.38, "te": 18.63, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 18.63, "te": 19.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 19.92, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 21.6, "te": 23.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 23.48, "te": 25.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 25.2, "te": 25.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 25.92, "te": 27.53, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 27.53, "te": 28.95, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 28.95, "te": 30.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 30.37, "te": 32.93, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 32.93, "te": 34.28, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 34.28, "te": 35.7, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 35.7, "te": 36.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 36.72, "te": 38.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 38.07, "te": 39.95, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 39.95, "te": 41.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 41.22, "te": 42.12, "mistake": false}, {"skill": "Stack", "label": "The left hand stacks a green part on top of another green part", "ts": 42.12, "te": 43.05, "mistake": false}]}, {"slug": "task_16207_ep076", "kind": "sim", "task": "task_16207", "ep": 76, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.68, "nframes": 1961, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Place": 5, "Pick": 3, "HandOver": 1, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9561, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9561, "right_hand/valid": 0.9561}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 1.75, "te": 2.82, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.82, "te": 6.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.97, "te": 8.25, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.25, "te": 14.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.03, "te": 15.52, "mistake": false}, {"skill": "Place", "label": "Right hand puts a straw into the packaging bag", "ts": 15.52, "te": 17.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 17.67, "te": 24.17, "mistake": false}, {"skill": "Tear", "label": "Both hands coordinate to tear off the packaging strip on the packaging bag", "ts": 24.17, "te": 25.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 25.73, "te": 26.53, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 26.53, "te": 29.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.7, "te": 31.0, "mistake": false}, {"skill": "Place", "label": "Left hand places the packaging bag on the table", "ts": 31.0, "te": 32.67, "mistake": false}]}, {"slug": "task_16207_ep077", "kind": "sim", "task": "task_16207", "ep": 77, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 6.58, "nframes": 396, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 1, "skills": {"Straighten": 1}, "skill_list": ["Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Dual arms coordinate to adjust the position of the chair", "ts": 0.0, "te": 6.58, "mistake": false}]}, {"slug": "task_16207_ep078", "kind": "sim", "task": "task_16207", "ep": 78, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Wash the glass", "duration": 24.93, "nframes": 1497, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Wipe": 1, "Place": 1, "HandOver": 1, "Open": 1, "Rinse": 1}, "skill_list": ["HandOver", "Open", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9673, "hand_state/right": 0.9967, "head_camera/valid": 0.9967, "head_state/valid": 0.9967, "left_end/valid": 0.9673, "left_hand/valid": 0.9673, "right_end/valid": 0.9967, "right_hand/valid": 0.9967}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "Both hands coordinate to wipe the glass with the yellow sponge", "ts": 0.0, "te": 15.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow sponge by the sink", "ts": 15.93, "te": 17.0, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the glass to the right hand", "ts": 17.0, "te": 18.07, "mistake": false}, {"skill": "Open", "label": "Left hand turns on the faucet", "ts": 18.07, "te": 18.63, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse the glass under the faucet", "ts": 18.63, "te": 24.93, "mistake": false}]}, {"slug": "task_16207_ep079", "kind": "sim", "task": "task_16207", "ep": 79, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 8.9, "nframes": 535, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9346, "hand_state/right": 0.9832, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9346, "left_hand/valid": 0.9346, "right_end/valid": 0.9832, "right_hand/valid": 0.9832}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a green piece of clothing from the basket", "ts": 0.0, "te": 2.38, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 2.38, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 3.65, "te": 4.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a patterned piece of clothing from the basket", "ts": 4.58, "te": 6.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 6.4, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a patterned piece of clothing into the washing machine", "ts": 7.75, "te": 8.9, "mistake": false}]}, {"slug": "task_16207_ep080", "kind": "sim", "task": "task_16207", "ep": 80, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 11.17, "nframes": 671, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Rotate": 2, "Pick": 1, "Insert": 1, "Press": 1}, "skill_list": ["Insert", "Pick", "Press", "Rotate"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 1.1, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 1.1, "te": 4.03, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 4.03, "te": 5.37, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 5.37, "te": 10.8, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to face forward", "ts": 10.8, "te": 11.18, "mistake": false}]}, {"slug": "task_16207_ep081", "kind": "sim", "task": "task_16207", "ep": 81, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 15.6, "nframes": 937, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Pick": 2, "Insert": 2, "PressButton": 2, "Straighten": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 0.9957, "hand_state/right": 0.9957, "head_camera/valid": 0.9957, "head_state/valid": 0.9957, "left_end/valid": 0.9957, "left_hand/valid": 0.9957, "right_end/valid": 0.9957, "right_hand/valid": 0.9957}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 2.48, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 2.48, "te": 5.67, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 5.67, "te": 6.78, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.78, "te": 9.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 9.65, "te": 10.05, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 10.05, "te": 11.45, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 11.45, "te": 15.6, "mistake": false}]}, {"slug": "task_16207_ep082", "kind": "sim", "task": "task_16207", "ep": 82, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store tableware", "duration": 7.3, "nframes": 439, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Place": 1, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 0.0, "te": 1.55, "mistake": false}, {"skill": "Place", "label": "Right hand places a bowl on the table", "ts": 1.55, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 3.25, "te": 4.65, "mistake": false}, {"skill": "Stack", "label": "The right hand stacks one bowl on top of another bowl", "ts": 4.65, "te": 7.3, "mistake": false}]}, {"slug": "task_16207_ep083", "kind": "sim", "task": "task_16207", "ep": 83, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up bedding", "duration": 27.12, "nframes": 1628, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Straighten": 9, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9883, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9883, "left_hand/valid": 0.9883, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 0.0, "te": 3.38, "mistake": false}, {"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 3.38, "te": 4.3, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the quilt", "ts": 4.3, "te": 5.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 5.85, "te": 7.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the bed sheet", "ts": 7.05, "te": 9.07, "mistake": false}, {"skill": "Straighten", "label": "Left hand tidies up the bed sheet", "ts": 9.07, "te": 12.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 12.13, "te": 13.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 13.65, "te": 17.17, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 17.17, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up a pillow on the bed", "ts": 19.48, "te": 25.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a pillow beside the head of the bed", "ts": 25.35, "te": 27.12, "mistake": false}]}, {"slug": "task_16207_ep084", "kind": "sim", "task": "task_16207", "ep": 84, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 10.43, "nframes": 627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 3, "Straighten": 3, "Place": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.941, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.941, "right_hand/valid": 0.941}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the basket", "ts": 0.0, "te": 1.82, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 1.82, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 2.6, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a piece of clothing from the basket", "ts": 3.25, "te": 4.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 4.85, "te": 6.27, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 6.27, "te": 6.88, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a piece of clothing from the basket", "ts": 6.88, "te": 8.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 8.4, "te": 9.37, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 9.37, "te": 10.43, "mistake": false}]}, {"slug": "task_16207_ep085", "kind": "sim", "task": "task_16207", "ep": 85, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water into the cup", "duration": 12.57, "nframes": 755, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pick": 1, "Pour": 1}, "skill_list": ["Pick", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 2.93, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the cup", "ts": 2.93, "te": 12.57, "mistake": false}]}, {"slug": "task_16207_ep086", "kind": "sim", "task": "task_16207", "ep": 86, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 41.57, "nframes": 2495, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 27, "skills": {"Pick": 9, "Place": 9, "Straighten": 4, "Scan": 3, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9996, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9996, "left_hand/valid": 0.9996, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.15, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes the plastic bag to the left hand", "ts": 2.15, "te": 3.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 3.42, "te": 4.55, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 4.55, "te": 8.6, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.6, "te": 9.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 9.57, "te": 10.35, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 10.35, "te": 13.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 13.18, "te": 14.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 14.35, "te": 15.7, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 15.7, "te": 17.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 17.35, "te": 18.52, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 18.52, "te": 19.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 19.8, "te": 20.78, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 20.78, "te": 23.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 23.4, "te": 24.55, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 24.55, "te": 26.15, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 26.15, "te": 27.77, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 27.77, "te": 29.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 29.22, "te": 29.95, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 29.95, "te": 32.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 32.85, "te": 34.62, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 34.62, "te": 36.37, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 36.37, "te": 36.77, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 36.77, "te": 37.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 37.13, "te": 37.97, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 37.97, "te": 38.23, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 38.23, "te": 41.57, "mistake": false}]}, {"slug": "task_16207_ep087", "kind": "sim", "task": "task_16207", "ep": 87, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the parts into the tray", "duration": 36.17, "nframes": 2171, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Pick": 12, "Place": 12, "Straighten": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 0.0, "te": 2.22, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 2.22, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 3.25, "te": 4.82, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 4.82, "te": 6.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 6.12, "te": 7.53, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 7.53, "te": 8.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 8.82, "te": 10.17, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 10.17, "te": 11.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 11.48, "te": 13.38, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 13.38, "te": 14.8, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 14.8, "te": 16.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 16.37, "te": 17.62, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the white part", "ts": 17.62, "te": 18.47, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 18.47, "te": 19.65, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 19.65, "te": 20.97, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 20.97, "te": 23.17, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 23.17, "te": 24.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 24.77, "te": 26.4, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 26.4, "te": 27.97, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 27.97, "te": 29.17, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 29.17, "te": 30.5, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 30.5, "te": 31.8, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part into the red tray", "ts": 31.8, "te": 33.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 33.3, "te": 34.88, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part into the red tray", "ts": 34.88, "te": 36.17, "mistake": false}]}, {"slug": "task_16207_ep088", "kind": "sim", "task": "task_16207", "ep": 88, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 32.87, "nframes": 1973, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 21, "skills": {"Pick": 7, "Place": 7, "Scan": 3, "Straighten": 2, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9995, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9995, "left_hand/valid": 0.9995, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes the plastic bag to the left hand", "ts": 1.3, "te": 2.02, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.02, "te": 3.58, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 3.58, "te": 6.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 6.28, "te": 7.4, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 7.4, "te": 8.43, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the scanner on the table", "ts": 8.43, "te": 9.47, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 9.47, "te": 11.35, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 11.35, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 12.87, "te": 14.17, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 14.17, "te": 16.9, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 16.9, "te": 18.7, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 18.7, "te": 19.82, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 19.82, "te": 23.45, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner on the table", "ts": 23.45, "te": 24.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 24.57, "te": 26.45, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 26.45, "te": 28.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 28.07, "te": 28.6, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 28.6, "te": 29.53, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 29.53, "te": 29.98, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 29.98, "te": 32.87, "mistake": false}]}, {"slug": "task_16207_ep089", "kind": "sim", "task": "task_16207", "ep": 89, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up snacks on the shelf", "duration": 17.17, "nframes": 1031, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Pick": 4, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 3.03, "mistake": false}, {"skill": "Place", "label": "Right hand places the snacks on the shelf", "ts": 3.03, "te": 5.38, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag 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0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 4, "Place": 4, "Straighten": 4}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a bag of green snacks from the basket", "ts": 0.0, "te": 2.72, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of green snacks on the shelf", "ts": 2.72, "te": 5.5, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the snacks", "ts": 5.5, "te": 6.97, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a bag of green snacks from the basket", "ts": 6.97, "te": 9.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of green snacks on the shelf", "ts": 9.35, "te": 11.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 11.13, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of red snacks from the basket", "ts": 12.87, "te": 16.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of red snacks on the shelf", "ts": 16.07, "te": 20.15, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 20.15, "te": 21.9, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of red snacks from the basket", "ts": 21.9, "te": 24.47, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of red snacks on the shelf", "ts": 24.47, "te": 27.1, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 27.1, "te": 29.15, "mistake": false}]}, {"slug": "task_16207_ep091", "kind": "sim", "task": "task_16207", "ep": 91, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Sort parts", "duration": 40.83, "nframes": 2451, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 30, "skills": {"Pick": 15, "Place": 14, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 0.0, "te": 0.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 0.2, "te": 1.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 1.37, "te": 2.68, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 2.68, "te": 4.13, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 4.13, "te": 5.8, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 5.8, "te": 7.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 7.37, "te": 8.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 8.72, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 10.35, "te": 12.0, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 12.0, "te": 13.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 13.87, "te": 15.65, "mistake": false}, {"skill": "Stack", "label": "Right hand stacks a green part on another green part", "ts": 15.65, "te": 17.35, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 17.35, "te": 20.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 20.37, "te": 21.53, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.53, "te": 22.78, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 22.78, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 23.98, "te": 25.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.45, "te": 26.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 26.7, "te": 28.08, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.08, "te": 29.25, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 29.25, "te": 30.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 30.45, "te": 31.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 31.6, "te": 33.02, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 33.02, "te": 34.32, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 34.32, "te": 34.62, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 34.62, "te": 35.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 35.42, "te": 36.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 36.15, "te": 37.18, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 37.18, "te": 38.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 38.37, "te": 40.83, "mistake": false}]}, {"slug": "task_16207_ep092", "kind": "sim", "task": "task_16207", "ep": 92, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water into the cup", "duration": 17.55, "nframes": 1054, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Pour": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the cup", "ts": 3.22, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 15.0, "te": 17.55, "mistake": false}]}, {"slug": "task_16207_ep093", "kind": "sim", "task": "task_16207", "ep": 93, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 32.78, "nframes": 1968, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Wipe": 2, "Place": 2, "Rinse": 2, "Pick": 2}, "skill_list": ["Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9817, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9817, "left_hand/valid": 0.9817, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a glass cup clean", "ts": 0.0, "te": 10.27, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge by the sink", "ts": 10.27, "te": 11.37, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a glass cup", "ts": 11.37, "te": 24.7, "mistake": false}, {"skill": "Place", "label": "The right hand places a glass cup on the table", "ts": 24.7, "te": 25.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white cup from the sink", "ts": 25.4, "te": 25.95, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup", "ts": 25.95, "te": 30.08, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge from beside the sink", "ts": 30.08, "te": 31.0, "mistake": false}, {"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a white cup clean", "ts": 31.0, "te": 32.78, "mistake": false}]}, {"slug": "task_16207_ep094", "kind": "sim", "task": "task_16207", "ep": 94, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 33.07, "nframes": 1985, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 4, "Place": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9798, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9798, "right_hand/valid": 0.9798}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a milk tea bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the milk tea bag", "ts": 1.75, "te": 6.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.08, "te": 7.2, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 7.2, "te": 10.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 10.63, "te": 12.12, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a straw inside the milk tea bag", "ts": 12.12, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 14.23, "te": 19.95, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip", "ts": 19.95, "te": 24.13, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 24.13, "te": 25.25, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 25.25, "te": 29.05, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the milk tea bag on the table", "ts": 29.05, "te": 30.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the milk tea bag on the table", "ts": 30.0, "te": 33.07, "mistake": false}]}, {"slug": "task_16207_ep095", "kind": "sim", "task": "task_16207", "ep": 95, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.87, "nframes": 2033, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 11, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 2.67, "te": 4.15, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 4.15, "te": 5.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 5.85, "te": 6.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 6.98, "te": 8.53, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 8.53, "te": 10.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 10.07, "te": 11.62, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 11.62, "te": 13.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 13.45, "te": 14.95, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 14.95, "te": 17.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 17.57, "te": 19.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 19.18, "te": 20.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 20.45, "te": 21.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 21.75, "te": 22.67, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 22.67, "te": 23.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 23.85, "te": 24.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 24.7, "te": 26.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 26.3, "te": 27.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 27.58, "te": 29.05, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 29.05, "te": 29.93, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 29.93, "te": 32.7, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 32.7, "te": 33.87, "mistake": false}]}, {"slug": "task_16207_ep096", "kind": "sim", "task": "task_16207", "ep": 96, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.18, "nframes": 2232, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 6, "Pick": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9633, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9633, "right_hand/valid": 0.9633}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the milk tea bag on the table while right hand picks up the milk tea on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the milk tea on the table", "ts": 2.6, "te": 3.33, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the milk tea bag", "ts": 3.33, "te": 7.42, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the milk tea bag on the table", "ts": 7.42, "te": 10.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 10.4, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 11.15, "te": 15.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 15.08, "te": 16.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a straw into the milk tea bag", "ts": 16.42, "te": 19.62, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 19.62, "te": 23.5, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip on the milk tea bag", "ts": 23.5, "te": 28.33, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 28.33, "te": 29.5, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 29.5, "te": 33.73, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the milk tea bag on the table", "ts": 33.73, "te": 34.8, "mistake": false}, {"skill": "Place", "label": "The left hand places the milk tea bag on the table", "ts": 34.8, "te": 37.18, "mistake": false}]}, {"slug": "task_16207_ep097", "kind": "sim", "task": "task_16207", "ep": 97, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 37.5, "nframes": 2250, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 13, "Place": 13}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 1.6, "te": 2.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 2.63, "te": 4.02, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 4.02, "te": 5.32, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 5.32, "te": 7.23, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.23, "te": 8.68, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 8.68, "te": 9.83, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 9.83, "te": 11.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.22, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.13, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a black part from the blue tray", "ts": 14.13, "te": 16.43, "mistake": false}, {"skill": "Place", "label": "The left hand places a black part on the red tray", "ts": 16.43, "te": 18.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 18.27, "te": 19.57, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 19.57, "te": 21.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.37, "te": 23.4, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 23.4, "te": 24.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 24.52, "te": 25.97, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.97, "te": 27.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 27.03, "te": 28.85, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.85, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 29.87, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 31.58, "te": 32.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 32.7, "te": 33.82, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 33.82, "te": 34.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 34.85, "te": 35.88, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 35.88, "te": 37.48, "mistake": false}]}, {"slug": "task_16207_ep098", "kind": "sim", "task": "task_16207", "ep": 98, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the snack bag", "duration": 37.33, "nframes": 2241, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 5, "Place": 5, "HandOver": 2, "Straighten": 2}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow snack bag from the basket", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow snack bag on the shelf", "ts": 2.67, "te": 6.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 6.82, "te": 9.02, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 9.02, "te": 10.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 10.38, "te": 13.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 13.22, "te": 14.15, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 14.15, "te": 15.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 15.38, "te": 20.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 20.25, "te": 22.95, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 22.95, "te": 26.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 26.6, "te": 29.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 29.98, "te": 31.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 31.67, "te": 33.45, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 33.45, "te": 37.33, "mistake": false}]}, {"slug": "task_16207_ep099", "kind": "sim", "task": "task_16207", "ep": 99, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make slush", "duration": 53.39, "nframes": 3204, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Place": 11, "Pick": 7, "Takeout (remove)": 4, "Screw (tighten)": 1, "Rotate": 1, "Pour": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Screw (tighten)", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Place", "label": "The right hand places the lid on the table", "ts": 2.47, "te": 3.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a cup on the table", "ts": 3.87, "te": 4.33, "mistake": false}, {"skill": "Place", "label": "The right hand pours the ice cubes from the cup into the shaved ice machine", "ts": 4.33, "te": 5.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a cup on the table", "ts": 5.37, "te": 6.33, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the lid on the table", "ts": 6.33, "te": 7.13, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 7.13, "te": 9.4, "mistake": false}, {"skill": "Screw (tighten)", "label": "Both hands work together to tighten the lid on the shaved ice machine", "ts": 9.4, "te": 10.9, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 10.9, "te": 28.87, "mistake": false}, {"skill": "Takeout (remove)", "label": "The right hand takes out the plastic box from the shaved ice machine", "ts": 28.87, "te": 29.8, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the table", "ts": 29.8, "te": 30.5, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use a spoon to pour the slush from the plastic box into a cup", "ts": 30.5, "te": 34.2, "mistake": false}, {"skill": "Place", "label": "The left hand places a spoon on the table", "ts": 34.2, "te": 34.88, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 34.88, "te": 35.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the topping box", "ts": 35.98, "te": 37.47, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 37.47, "te": 38.67, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 38.67, "te": 39.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 39.78, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 40.98, "te": 42.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 42.78, "te": 44.5, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 44.5, "te": 45.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a small spoon from the cup", "ts": 45.4, "te": 47.7, "mistake": false}, {"skill": "Place", "label": "The left hand places a small spoon into a cup", "ts": 47.7, "te": 49.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a cup from the table", "ts": 49.25, "te": 50.28, "mistake": false}, {"skill": "Place", "label": "The left hand places a cup on the table", "ts": 50.28, "te": 53.38, "mistake": false}]}, {"slug": "task_16207_ep100", "kind": "sim", "task": "task_16207", "ep": 100, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 12.33, "nframes": 741, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Insert": 2, "Straighten": 2, "PressButton": 2, "Pick": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 0.9, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 0.9, "te": 3.63, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 3.63, "te": 6.55, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.55, "te": 8.42, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 8.42, "te": 9.02, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 9.02, "te": 10.68, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 10.68, "te": 12.33, "mistake": false}]}, {"slug": "task_16207_ep101", "kind": "sim", "task": "task_16207", "ep": 101, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 43.27, "nframes": 2597, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 7, "Straighten": 4, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 2.98, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.98, "te": 5.33, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 5.33, "te": 8.37, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.37, "te": 10.0, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 10.0, "te": 13.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 13.12, "te": 14.07, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 14.07, "te": 16.28, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 16.28, "te": 17.82, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 17.82, "te": 20.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the plastic bag", "ts": 20.03, "te": 21.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 21.25, "te": 22.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 22.28, "te": 23.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 23.23, "te": 26.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 26.8, "te": 27.8, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 27.8, "te": 29.33, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.33, "te": 31.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.1, "te": 32.55, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to 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9.52, "te": 10.52, "mistake": false}, {"skill": "Place", "label": "Right hand places the fig on the table surface", "ts": 10.52, "te": 11.85, "mistake": false}, {"skill": "Place", "label": "Left hand hands over the fig to the right hand", "ts": 11.85, "te": 12.35, "mistake": false}, {"skill": "Place", "label": "Right hand puts the fig into the container", "ts": 12.35, "te": 13.2, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the fig from the tray", "ts": 13.2, "te": 14.43, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the fig from the tray", "ts": 14.43, "te": 15.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the fig into the transparent box", "ts": 15.45, "te": 16.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the fig on the table surface", "ts": 16.75, "te": 18.87, "mistake": false}, {"skill": "Pick", "label": "Both hands pick up two dark purple figs from the tray", "ts": 18.87, "te": 20.13, "mistake": false}, {"skill": "Place", "label": "Right hand places the fig into the transparent box", "ts": 20.13, "te": 22.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the fig from the left hand", "ts": 22.3, "te": 22.68, "mistake": false}, {"skill": "Place", "label": "Right hand places the fig on the table surface", "ts": 22.68, "te": 23.58, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the fig from the transparent box", "ts": 23.58, "te": 23.77, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the fig from the transparent box", "ts": 23.77, "te": 24.68, "mistake": false}, {"skill": "Place", "label": "Both hands put the two figs into the tray", "ts": 24.68, "te": 25.88, "mistake": false}, {"skill": "Pick", "label": "Both hands pick up multiple figs", "ts": 25.88, "te": 28.03, "mistake": false}, {"skill": "Place", "label": "Both hands put the figs into the tray", "ts": 28.03, "te": 28.93, "mistake": false}]}, {"slug": "task_15634_ep001", "kind": "wild", "task": "task_15634", "ep": 1, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Pack the tomatoes into the plastic box", "duration": 30.98, "nframes": 1860, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 18, "skills": {"Pick": 6, "Place": 6, "Close": 2, "HandOver": 1, "Straighten": 1, "Open": 1, "Pull": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Pull", "Straighten"], "valids": {"hand_state/left": 0.9962, "hand_state/right": 0.9962, "head_camera/valid": 0.9962, "head_state/valid": 0.9962, "left_end/valid": 0.9962, "left_hand/valid": 0.9962, "right_end/valid": 0.9962, "right_hand/valid": 0.9962}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the tomatoes from the bag", "ts": 0.0, "te": 0.5, "mistake": false}, {"skill": "Place", "label": "Right hand places the tomatoes into the transparent plastic box on the blue cloth", "ts": 0.5, "te": 0.92, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over a tomato to the right hand", "ts": 0.92, "te": 1.45, "mistake": false}, {"skill": "Place", "label": "Left hand places the tomato into the transparent plastic box on the blue cloth while right hand places the tomato into the transparent plastic box", "ts": 1.45, "te": 2.23, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to arrange the tomatoes in the transparent plastic box neatly", "ts": 2.23, "te": 3.35, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the tomatoes from the bag", "ts": 3.35, "te": 9.0, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the tomatoes into the 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"label": "Right hand pulls the plastic box on the countertop downward while left hand places the transparent plastic box filled with tomatoes above the countertop", "ts": 20.05, "te": 21.03, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up one transparent plastic box from a stack of transparent plastic boxes", "ts": 21.03, "te": 22.78, "mistake": false}, {"skill": "Place", "label": "Left hand places the transparent plastic box above the countertop while right hand places the transparent plastic box on the blue cloth", "ts": 22.78, "te": 23.62, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the tomatoes from the bag", "ts": 23.62, "te": 26.52, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the tomatoes into the transparent plastic box on the blue cloth.", "ts": 26.52, "te": 27.62, "mistake": false}]}, {"slug": "task_15634_ep002", "kind": "wild", "task": "task_15634", "ep": 2, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Remove the pears from the plate and arrange them on the table surface", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 24, "skills": {"Place": 8, "Pick": 8, "Tear": 3, "HandOver": 3, "Straighten": 2}, "skill_list": ["HandOver", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 0.9952, "hand_state/right": 0.9952, "head_camera/valid": 0.9952, "head_state/valid": 0.9952, "left_end/valid": 0.9952, "left_hand/valid": 0.9952, "right_end/valid": 0.9952, "right_hand/valid": 0.9952}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Both hands work together to place the two pears on the plate", "ts": 0.07, "te": 1.18, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 1.18, "te": 3.28, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 3.28, "te": 4.8, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film", "ts": 4.8, "te": 12.73, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear", "ts": 12.73, "te": 13.98, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 13.98, "te": 15.05, "mistake": false}, {"skill": "Tear", "label": "Left hand tears off the film", "ts": 15.05, "te": 15.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear", "ts": 15.92, "te": 16.67, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 16.67, "te": 17.15, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 17.15, "te": 17.72, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 17.72, "te": 18.63, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 18.63, "te": 18.98, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 18.98, "te": 19.6, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 19.6, "te": 20.37, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 20.37, "te": 21.68, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 21.68, "te": 22.23, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear on the table", "ts": 22.23, "te": 23.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 23.52, "te": 23.97, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 23.97, "te": 24.68, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 24.68, "te": 25.62, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 25.62, "te": 26.75, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear on the table", "ts": 26.75, "te": 27.92, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plate", "ts": 27.92, "te": 29.3, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film", "ts": 29.3, "te": 30.82, "mistake": false}]}, {"slug": "task_15634_ep003", "dataset_dir": "mego_pear_plating_ep000", "kind": "wild", "task": "task_15634", "ep": 3, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Place the pears from the table into the plate and arrange them neatly", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 29, "skills": {"Pick": 15, "Place": 10, "HandOver": 2, "Takedown": 1, "Knead": 1}, "skill_list": ["HandOver", "Knead", "Pick", "Place", "Takedown"], "valids": {"hand_state/left": 0.9935, "hand_state/right": 0.9935, "head_camera/valid": 0.9935, "head_state/valid": 0.9935, "left_end/valid": 0.9935, "left_hand/valid": 0.9935, "right_end/valid": 0.9935, "right_hand/valid": 0.9935}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 0.18, "te": 2.0, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from a box of pears", "ts": 2.0, "te": 3.43, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 3.43, "te": 4.73, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 4.73, "te": 7.08, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from a box of pears", "ts": 7.08, "te": 7.93, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 7.93, "te": 9.98, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 9.98, "te": 12.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from a box of pears", "ts": 12.13, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 12.87, "te": 14.92, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 14.92, "te": 16.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plate", "ts": 16.47, "te": 17.12, "mistake": false}, {"skill": "Takedown", "label": "Right hand removes the film", "ts": 17.12, "te": 17.97, "mistake": false}, {"skill": "Place", "label": "Left hand places the plate on the table", "ts": 17.97, "te": 18.25, "mistake": false}, {"skill": "Knead", "label": "Both hands work together to knead the film", "ts": 18.25, "te": 19.62, "mistake": false}, {"skill": "Place", "label": "Left hand places the film on the table", "ts": 19.62, "te": 20.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table", "ts": 20.17, "te": 20.78, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 20.78, "te": 21.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the two pears into the plate", "ts": 21.42, "te": 23.33, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 23.33, "te": 23.87, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the pear to the left hand", "ts": 23.87, "te": 24.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the two pears into the plate", "ts": 24.4, "te": 26.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 26.08, "te": 26.68, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pear into the plate", "ts": 26.68, "te": 27.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 27.4, "te": 28.2, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the pear to the left hand", "ts": 28.2, "te": 28.48, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pear into the plate", "ts": 28.48, "te": 29.28, "mistake": false}, {"skill": "Pick", "label": "Pick up two green apples from the table", "ts": 29.28, "te": 30.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 30.0, "te": 30.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table", "ts": 30.17, "te": 30.92, "mistake": false}]}, {"slug": "task_15634_ep004", "kind": "wild", "task": "task_15634", "ep": 4, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Pack the yellow fruits on the blue mat into the plastic box.", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 24, "skills": {"Pick": 13, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.9892, "hand_state/right": 0.9892, "head_camera/valid": 0.9892, "head_state/valid": 0.9892, "left_end/valid": 0.9892, "left_hand/valid": 0.9892, "right_end/valid": 0.9892, "right_hand/valid": 0.9892}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 0.57, "te": 2.12, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow fruit on the table surface", "ts": 2.12, "te": 2.65, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 2.65, "te": 3.25, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 3.25, "te": 4.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow fruit on the table surface", "ts": 4.42, "te": 5.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 5.27, "te": 6.17, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 6.17, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 7.83, "te": 9.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit on the table surface", "ts": 9.45, "te": 10.55, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a yellow fruit on the table surface", "ts": 10.55, "te": 11.22, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the yellow fruit into the plastic box", "ts": 11.22, "te": 13.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 13.47, "te": 16.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 16.65, "te": 18.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 18.25, "te": 18.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 18.65, "te": 19.72, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 19.72, "te": 23.77, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the yellow fruit into the plastic box", "ts": 23.77, "te": 26.03, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 26.03, "te": 30.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 30.07, "te": 31.05, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 31.05, "te": 31.82, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the yellow fruit from the blue mat", "ts": 31.82, "te": 32.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left 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up a document from the stack of documents on the left side of the table", "ts": 1.1, "te": 2.5, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 2.5, "te": 3.33, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 3.33, "te": 4.82, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 4.82, "te": 5.72, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 5.72, "te": 6.87, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 6.87, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.83, "te": 9.35, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 9.35, "te": 10.05, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 10.05, "te": 11.03, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 11.03, "te": 11.85, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 11.85, "te": 12.83, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 12.83, "te": 13.57, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 13.57, "te": 14.58, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 14.58, "te": 15.4, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 15.4, "te": 16.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 16.6, "te": 17.45, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 17.45, "te": 18.67, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 18.67, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 19.48, "te": 21.02, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 21.02, "te": 22.03, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 22.03, "te": 23.68, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 23.68, "te": 24.43, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the 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"te": 1.85, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 1.85, "te": 3.52, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 3.52, "te": 4.38, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 4.38, "te": 6.33, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 6.33, "te": 7.28, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.28, "te": 8.95, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document 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"ts": 24.3, "te": 25.05, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 25.05, "te": 26.8, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 26.8, "te": 27.55, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 27.55, "te": 29.18, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 29.18, "te": 30.12, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 30.12, "te": 31.67, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to 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{"skill": "Press", "label": "Left hand presses the white keycap", "ts": 1.5, "te": 1.92, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 1.92, "te": 2.68, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 2.68, "te": 3.1, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 3.1, "te": 3.92, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 3.92, "te": 4.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 4.65, "te": 4.95, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 4.95, "te": 5.28, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 5.28, "te": 6.07, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 6.07, "te": 6.93, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 6.93, "te": 7.17, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 7.17, "te": 7.75, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the white keycap to the right hand", "ts": 7.75, "te": 8.23, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 8.23, "te": 8.72, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 8.72, "te": 9.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 9.18, "te": 10.22, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 10.22, "te": 10.83, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 10.83, "te": 11.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keyboard tray", "ts": 11.33, "te": 11.58, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the keyboard tray onto the keyboard trays on the left", "ts": 11.58, "te": 11.92, "mistake": false}, {"skill": "Flip", "label": "Right hand flips a keyboard tray", "ts": 11.92, "te": 12.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 12.77, "te": 13.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 13.17, "te": 13.6, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 13.6, "te": 14.5, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 14.5, "te": 14.83, "mistake": false}, {"skill": "Place", "label": "Right hand places the 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false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 7.2, "te": 7.7, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 7.7, "te": 8.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keyboard from the keyboard stack", "ts": 8.27, "te": 8.92, "mistake": false}, {"skill": "Place", "label": "Left hand places the keyboard onto the left keyboard stack", "ts": 8.92, "te": 9.9, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 9.9, "te": 10.7, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table while left hand places a keycap on the table", "ts": 10.7, "te": 11.55, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 11.55, "te": 12.12, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 12.12, "te": 12.63, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 12.63, "te": 12.98, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 12.98, "te": 13.35, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 13.35, "te": 13.83, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 13.83, "te": 14.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 14.4, "te": 14.92, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 14.92, "te": 15.4, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 15.4, "te": 15.83, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 15.83, "te": 16.43, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 16.43, "te": 17.15, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 17.15, "te": 17.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 17.87, "te": 18.28, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 18.28, "te": 18.8, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 18.8, "te": 19.22, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 19.22, "te": 20.05, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 20.05, "te": 20.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 20.63, "te": 21.15, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the 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"mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 26.95, "te": 27.65, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 27.65, "te": 28.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 28.13, "te": 28.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 28.82, "te": 29.23, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 29.23, "te": 29.73, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the keyboard", "ts": 29.73, "te": 30.32, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 30.32, "te": 30.82, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 30.82, "te": 31.42, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the keycap to the right hand", "ts": 31.42, "te": 31.77, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 31.77, "te": 32.28, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 32.28, "te": 33.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 33.3, "te": 33.83, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 33.83, "te": 34.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 34.45, "te": 34.93, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 34.93, "te": 35.35, "mistake": false}]}, {"slug": "task_15648_ep002", "dataset_dir": "mego_keyboard_assembly_ep000", "kind": "wild", "task": "task_15648", "ep": 2, "short": "Mouse & keyboard assembly", "task_name": "Assembly of complete mouse and keyboard units", "instruction": "Place the white keycap on the keyboard and press it", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800037", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 63, "skills": {"Place": 21, "Pick": 21, "Press": 18, "Stack": 2, "Flip": 1}, "skill_list": ["Flip", "Pick", "Place", "Press", "Stack"], "valids": {"hand_state/left": 0.9871, "hand_state/right": 0.9971, "head_camera/valid": 0.9971, "head_state/valid": 0.9971, "left_end/valid": 0.9871, "left_hand/valid": 0.9871, "right_end/valid": 0.9971, "right_hand/valid": 0.9971}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Both hands work together to place the white keycap on the keyboard", "ts": 0.0, "te": 1.17, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 1.17, "te": 1.92, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 1.92, "te": 2.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 2.82, "te": 3.33, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard", "ts": 3.33, "te": 4.28, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 4.28, "te": 4.8, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 4.8, "te": 5.38, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 5.38, "te": 6.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 6.17, "te": 7.52, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 7.52, "te": 8.38, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard", "ts": 8.38, "te": 9.02, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 9.02, "te": 9.52, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 9.52, "te": 10.13, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 10.13, "te": 10.6, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 10.6, "te": 11.58, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 11.58, "te": 12.32, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 12.32, "te": 12.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a tool from the 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"Left hand places the white keycap on the keyboard tray", "ts": 16.07, "te": 17.0, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 17.0, "te": 17.77, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 17.77, "te": 18.35, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 18.35, "te": 18.73, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up two white keycaps from the table", "ts": 18.73, "te": 19.82, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 19.82, "te": 21.2, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 21.2, "te": 22.4, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 22.4, "te": 22.92, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 22.92, "te": 24.45, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 24.45, "te": 25.53, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 25.53, "te": 26.03, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 26.03, "te": 26.67, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keyboard tray", "ts": 26.67, "te": 26.9, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the keyboard tray onto the keyboard trays on the left", "ts": 26.9, "te": 27.4, "mistake": false}, {"skill": "Flip", "label": "Right hand flips a keyboard tray on the table", "ts": 27.4, "te": 28.08, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 28.08, "te": 28.5, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 28.5, "te": 29.1, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 29.1, "te": 29.65, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 29.65, "te": 30.07, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 30.07, "te": 30.42, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 30.42, "te": 30.82, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 30.82, "te": 32.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 32.08, "te": 32.85, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 32.85, "te": 33.37, "mistake": false}, {"skill": "Press", "label": "Right 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8.18, "te": 8.67, "mistake": false}, {"skill": "Dip", "label": "Right hand dips the brush into the jar", "ts": 8.67, "te": 10.5, "mistake": false}, {"skill": "Paint", "label": "Right hand applies the substance to the nail with the brush", "ts": 10.5, "te": 18.63, "mistake": false}, {"skill": "Straighten", "label": "Right hand straightens the nail", "ts": 18.63, "te": 27.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the wet wipe on the table", "ts": 27.23, "te": 29.57, "mistake": false}, {"skill": "Press", "label": "Right hand presses the alcohol bottle with a tissue", "ts": 29.57, "te": 31.38, "mistake": false}, {"skill": "Wipe", "label": "Right hand wipes the nail with the wet wipe", "ts": 31.38, "te": 35.73, "mistake": false}]}, {"slug": "task_15655_ep001", "kind": "wild", "task": "task_15655", "ep": 1, "short": "Manicure", "task_name": "Manicure", "instruction": "Adjust the paint with a tool", "duration": 34.73, "nframes": 2085, "fps": 30, "usability": 1.0, 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"task_15655_ep002", "kind": "wild", "task": "task_15655", "ep": 2, "short": "Manicure", "task_name": "Manicure", "instruction": "Wipe the nail with a tool", "duration": 39.97, "nframes": 2399, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800052", "qc": {"status": "warn", "total": 41, "passed": 40, "warnings": 0, "failures": 1}, "has_vis": false, "n_segments": 2, "skills": {"dip": 1, "Wipe": 1}, "skill_list": ["Wipe", "dip"], "valids": {"hand_state/left": 0.9979, "hand_state/right": 0.9875, "head_camera/valid": 0.9979, "head_state/valid": 0.9979, "left_end/valid": 0.9979, "left_hand/valid": 0.9979, "right_end/valid": 0.9875, "right_hand/valid": 0.9875}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "dip", "label": "Right hand dips the tool into the jar", "ts": 0.07, "te": 1.98, "mistake": false}, {"skill": "Wipe", "label": "Left hand assists the right hand in wiping the 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hands cooperate to place the folded pink pants on the left side of the sofa", "ts": 11.57, "te": 12.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the purple pants", "ts": 12.87, "te": 13.77, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the purple pants on the sofa", "ts": 13.77, "te": 15.42, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the purple pants on the sofa", "ts": 15.42, "te": 16.85, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the purple pants to the right", "ts": 16.85, "te": 19.17, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to adjust the position of the purple pants", "ts": 19.17, "te": 20.33, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the purple pants upward", "ts": 20.33, "te": 21.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy 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"head_camera/valid": 0.9962, "head_state/valid": 0.9962, "left_end/valid": 0.9962, "left_hand/valid": 0.9962, "right_end/valid": 0.9962, "right_hand/valid": 0.9962}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up the kettle on the table", "ts": 0.0, "te": 1.83, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the water from the kettle into the cup", "ts": 1.83, "te": 9.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the kettle on the table", "ts": 9.92, "te": 13.17, "mistake": false}]}, {"slug": "task_16207_ep009", "kind": "sim", "task": "task_16207", "ep": 9, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.3, "te": 4.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 4.07, "te": 6.28, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 6.28, "te": 8.18, "mistake": false}]}, {"slug": "task_16207_ep010", "kind": "sim", "task": "task_16207", "ep": 10, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 30.7, "nframes": 1843, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 5, "Place": 3, "Straighten": 2, "Scan": 2, "Open": 1}, "skill_list": ["Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9908, "hand_state/right": 0.9908, "head_camera/valid": 0.9908, "head_state/valid": 0.9908, "left_end/valid": 0.9908, "left_hand/valid": 0.9908, "right_end/valid": 0.9908, "right_hand/valid": 0.9908}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.4, "te": 5.6, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 5.6, "te": 10.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.25, "te": 11.75, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 11.75, "te": 14.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.7, "te": 16.12, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 16.12, "te": 20.65, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 20.65, "te": 21.72, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 21.72, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 23.98, "te": 25.35, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.35, "te": 26.85, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.85, "te": 28.27, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 28.27, "te": 30.7, "mistake": false}]}, {"slug": "task_16207_ep011", "kind": "sim", "task": "task_16207", "ep": 11, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 38.02, "nframes": 2282, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 12, "Place": 12, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 0.0, "te": 2.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 2.87, "te": 4.7, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 4.7, "te": 5.65, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 5.65, "te": 6.77, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 6.77, "te": 7.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 7.92, "te": 8.95, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 8.95, "te": 9.9, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 9.9, "te": 10.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 10.98, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 12.57, "te": 14.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 14.05, "te": 15.4, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 15.4, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 16.67, "te": 18.25, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 18.25, "te": 19.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 19.58, "te": 20.82, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 20.82, "te": 22.12, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 22.12, "te": 24.38, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 24.38, "te": 25.43, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 25.43, "te": 26.77, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 26.77, "te": 27.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 27.75, "te": 29.22, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 29.22, "te": 30.22, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 30.22, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 31.58, "te": 32.6, "mistake": false}, {"skill": "Close", "label": "Both hands cooperate to close the tool box", "ts": 32.6, "te": 36.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the tool box", "ts": 36.05, "te": 38.02, "mistake": false}]}, {"slug": "task_16207_ep012", "kind": "sim", "task": "task_16207", "ep": 12, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the folder into the file rack", "duration": 7.2, "nframes": 433, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.25, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue folder into the file rack", "ts": 2.25, "te": 5.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue folder on the table", "ts": 5.07, "te": 7.2, "mistake": false}]}, {"slug": "task_16207_ep013", "kind": "sim", "task": "task_16207", "ep": 13, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 43.76, "nframes": 2626, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 8, "Place": 8, "Straighten": 5, "Scan": 3, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9996, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9996, "right_hand/valid": 0.9996}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a plastic bag from the table", "ts": 0.0, "te": 1.8, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a plastic bag to the left hand", "ts": 1.8, "te": 2.58, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a plastic bag on the table", "ts": 2.58, "te": 3.4, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 3.4, "te": 8.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.35, "te": 9.8, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 9.8, "te": 10.48, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 10.48, "te": 11.62, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 11.62, "te": 14.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 14.18, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 15.0, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 16.67, "te": 18.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 18.1, "te": 20.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 20.12, "te": 21.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 21.23, "te": 23.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 23.3, "te": 24.7, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 24.7, "te": 25.68, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 25.68, "te": 27.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 27.3, "te": 28.88, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 28.88, "te": 31.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 31.0, "te": 32.3, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 32.3, "te": 36.1, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 36.1, "te": 37.23, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 37.23, "te": 39.2, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the packed plastic bag", "ts": 39.2, "te": 40.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 40.58, "te": 41.72, "mistake": false}, {"skill": "Place", "label": "The right hand places the packed plastic bag on the table", "ts": 41.72, "te": 43.75, "mistake": false}]}, {"slug": "task_16207_ep014", "kind": "sim", "task": "task_16207", "ep": 14, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 17.75, "nframes": 1066, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 4, "Place": 4, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 3.22, "te": 4.92, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green pen on the table", "ts": 4.92, "te": 5.9, "mistake": false}, {"skill": "Place", "label": "The right hand puts a green pen into the pen holder", "ts": 5.9, "te": 7.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red pen on the table", "ts": 7.5, "te": 9.5, "mistake": false}, {"skill": "Place", "label": "The right hand puts a red pen into the pen holder", "ts": 9.5, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 11.23, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 12.57, "te": 14.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the white crumpled paper on the table", "ts": 14.63, "te": 15.72, "mistake": false}, {"skill": "Place", "label": "The left hand throws the white crumpled paper into the trash can", "ts": 15.72, "te": 17.75, "mistake": false}]}, {"slug": "task_16207_ep015", "kind": "sim", "task": "task_16207", "ep": 15, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.88, "nframes": 1974, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 5, "Pick": 4, "HandOver": 1, "Open": 1, "Tear": 1, "Straighten": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 2.05, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 2.05, "te": 2.92, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.92, "te": 7.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 7.12, "te": 8.23, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.23, "te": 13.47, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the packaging bag on the table", "ts": 13.47, "te": 14.15, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.15, "te": 15.97, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a thin tube into the packaging bag", "ts": 15.97, "te": 18.3, "mistake": false}, {"skill": "Tear", "label": "Both hands cooperate to tear off the sealing strip on the packaging bag", "ts": 18.3, "te": 21.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 21.5, "te": 23.27, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 23.27, "te": 25.82, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 25.82, "te": 29.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.37, "te": 30.72, "mistake": false}, {"skill": "Place", "label": "The left hand places the packaging bag on the table", "ts": 30.72, "te": 32.88, "mistake": false}]}, {"slug": "task_16207_ep016", "kind": "sim", "task": "task_16207", "ep": 16, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make shaved ice", "duration": 57.4, "nframes": 3444, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 8, "Place": 8, "Pour": 4, "Takeout (remove)": 2, "Rotate": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 1.97, "mistake": false}, {"skill": "Place", "label": "The right hand places the shaved ice machine lid on the table", "ts": 1.97, "te": 3.17, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic cup on the table", "ts": 3.17, "te": 4.0, "mistake": false}, {"skill": "Pour", "label": "The right hand pours the ice cubes from the plastic cup into the shaved ice machine", "ts": 4.0, "te": 6.03, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic cup on the table", "ts": 6.03, "te": 6.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the shaved ice machine lid on the table", "ts": 6.75, "te": 8.43, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 8.43, "te": 11.57, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 11.57, "te": 32.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic and box inside the shaved ice machine", "ts": 32.2, "te": 33.52, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the spoon on the table", "ts": 33.52, "te": 34.65, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use the spoon to pour the slush from the plastic box into the mug", "ts": 34.65, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon in the saucer", "ts": 40.98, "te": 41.45, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 41.45, "te": 43.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the small spoon from the topping box", "ts": 43.3, "te": 44.7, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 44.7, "te": 45.5, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 45.5, "te": 46.97, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 46.97, "te": 48.88, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 48.88, "te": 50.27, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon on the topping box", "ts": 50.27, "te": 51.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the transparent spoon inside the transparent cup", "ts": 51.67, "te": 53.0, "mistake": false}, {"skill": "Place", "label": "The left hand puts the transparent spoon into the mug", "ts": 53.0, "te": 54.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the mug", "ts": 54.28, "te": 54.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the mug on the coaster", "ts": 54.87, "te": 57.38, "mistake": false}]}, {"slug": "task_16207_ep017", "kind": "sim", "task": "task_16207", "ep": 17, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Rinse": 3, "Place": 3, "Pick": 3, "HandOver": 1, "Wipe": 1}, "skill_list": ["HandOver", "Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.96, "hand_state/right": 0.9954, "head_camera/valid": 0.9954, "head_state/valid": 0.9954, "left_end/valid": 0.96, "left_hand/valid": 0.96, "right_end/valid": 0.9954, "right_hand/valid": 0.9954}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Rinse", "label": "Both hands work together to rinse a red cup under the faucet", "ts": 0.0, "te": 13.0, "mistake": false}, {"skill": "Place", "label": "The left hand places a red cup on the table", "ts": 13.0, "te": 14.0, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the yellow sponge on the table", "ts": 14.0, "te": 14.87, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the yellow sponge to the right hand", "ts": 14.87, "te": 15.53, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a dark-colored cup from the sink", "ts": 15.53, "te": 16.95, "mistake": false}, {"skill": "Wipe", "label": "Both hands coordinate to wipe a dark cup with a yellow sponge", "ts": 16.95, "te": 25.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the yellow sponge on the table", "ts": 25.5, "te": 28.6, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a dark-colored cup under the faucet", "ts": 28.6, "te": 34.03, "mistake": false}, {"skill": "Place", "label": "The left hand places a dark-colored cup on the table", "ts": 34.03, "te": 35.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white cup from the sink", "ts": 35.25, "te": 37.0, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup under the faucet", "ts": 37.0, "te": 40.0, "mistake": false}]}, {"slug": "task_16207_ep018", "kind": "sim", "task": "task_16207", "ep": 18, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.97, "nframes": 1619, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 18, "skills": {"Pick": 7, "Place": 7, "Straighten": 4}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8172, "hand_state/right": 0.9901, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8172, "left_hand/valid": 0.8172, "right_end/valid": 0.9901, "right_hand/valid": 0.9901}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 2.17, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 2.17, "te": 3.68, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 3.68, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 6.77, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the blue triangle", "ts": 6.77, "te": 8.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 8.58, "te": 9.4, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 9.4, "te": 10.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 10.33, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 11.23, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 13.02, "te": 14.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 14.8, "te": 16.33, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 16.33, "te": 17.72, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 17.72, "te": 18.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 18.97, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 20.18, "te": 22.27, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the red triangle", "ts": 22.27, "te": 22.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 22.98, "te": 24.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 24.85, "te": 26.97, "mistake": false}]}, {"slug": "task_16207_ep019", "kind": "sim", "task": "task_16207", "ep": 19, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the robot", "duration": 9.9, "nframes": 595, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "plug": 1, "HandOver": 1, "Straighten": 1, "Plug": 1}, "skill_list": ["HandOver", "Pick", "Plug", "Straighten", "plug"], "valids": {"hand_state/left": 0.9782, "hand_state/right": 0.9782, "head_camera/valid": 0.9782, "head_state/valid": 0.9782, "left_end/valid": 0.9782, "left_hand/valid": 0.9782, "right_end/valid": 0.9782, "right_hand/valid": 0.9782}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the blue plug on the floor", "ts": 0.0, "te": 0.97, "mistake": false}, {"skill": "plug", "label": "Right hand inserts the blue plug into the base", "ts": 0.97, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black plug on the floor", "ts": 3.3, "te": 4.15, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the black plug to the left hand", "ts": 4.15, "te": 4.65, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the wire", "ts": 4.65, "te": 5.57, "mistake": false}, {"skill": "Plug", "label": "Left hand inserts the black plug into the floor socket", "ts": 5.57, "te": 9.9, "mistake": false}]}, {"slug": "task_16207_ep020", "kind": "sim", "task": "task_16207", "ep": 20, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 16.25, "nframes": 976, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 3, "Straighten": 3, "Place": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 0.0, "te": 2.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 2.23, "te": 3.62, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 3.62, "te": 5.42, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 5.42, "te": 7.58, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes an item to the left hand", "ts": 7.58, "te": 8.35, "mistake": false}, {"skill": "Place", "label": "The left hand places an item on the shelf", "ts": 8.35, "te": 9.57, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the item", "ts": 9.57, "te": 10.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 10.82, "te": 13.05, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 13.05, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 14.28, "te": 16.25, "mistake": false}]}, {"slug": "task_16207_ep021", "kind": "sim", "task": "task_16207", "ep": 21, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 13.75, "nframes": 826, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Insert": 1, "PressButton": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "PressButton"], "valids": {"hand_state/left": 0.9189, "hand_state/right": 0.9189, "head_camera/valid": 0.9189, "head_state/valid": 0.9189, "left_end/valid": 0.9189, "left_hand/valid": 0.9189, "right_end/valid": 0.9189, "right_hand/valid": 0.9189}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 1.3, "te": 3.62, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 3.62, "te": 4.67, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 4.67, "te": 12.1, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the VR glasses on the table", "ts": 12.1, "te": 13.77, "mistake": false}]}, {"slug": "task_16207_ep022", "kind": "sim", "task": "task_16207", "ep": 22, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 30.27, "nframes": 1817, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Place": 2, "Pick": 2, "Pour": 1, "HandOver": 1, "Rinse": 1, "Close": 1, "Wipe": 1}, "skill_list": ["Close", "HandOver", "Pick", "Place", "Pour", "Rinse", "Wipe"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pour", "label": "Both hands work together to pour the water from a transparent cup into the sink", "ts": 0.0, "te": 0.27, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a transparent cup to the right hand", "ts": 0.27, "te": 0.77, "mistake": false}, {"skill": "Place", "label": "The right hand places a transparent cup on the table", "ts": 0.77, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a dark-colored cup from the sink", "ts": 2.13, "te": 3.13, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse a dark cup", "ts": 3.13, "te": 8.92, "mistake": false}, {"skill": "Close", "label": "The right hand turns off the faucet", "ts": 8.92, "te": 9.43, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge on the table", "ts": 9.43, "te": 10.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge into a dark-colored cup", "ts": 10.4, "te": 11.43, "mistake": false}, {"skill": "Wipe", "label": "Both hands work together to wipe a dark-colored cup", "ts": 11.43, "te": 30.27, "mistake": false}]}, {"slug": "task_16207_ep023", "kind": "sim", "task": "task_16207", "ep": 23, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up folders", "duration": 5.52, "nframes": 332, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.73, "mistake": false}, {"skill": "Place", "label": "Left hand puts a blue folder into the file rack", "ts": 2.73, "te": 5.52, "mistake": false}]}, {"slug": "task_16207_ep024", "kind": "sim", "task": "task_16207", "ep": 24, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 18.8, "nframes": 1129, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 1, "Insert": 1, "Rotate": 1, "Press": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "Press", "Rotate"], "valids": {"hand_state/left": 0.9911, "hand_state/right": 0.93, "head_camera/valid": 0.9911, "head_state/valid": 0.9911, "left_end/valid": 0.9911, "left_hand/valid": 0.9911, "right_end/valid": 0.93, "right_hand/valid": 0.93}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 4.3, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 4.3, "te": 7.0, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 7.0, "te": 8.85, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 8.85, "te": 16.55, "mistake": false}, {"skill": "Place", "label": "Both hands place the white glasses on the table", "ts": 16.55, "te": 18.8, "mistake": false}]}, {"slug": "task_16207_ep025", "kind": "sim", "task": "task_16207", "ep": 25, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.78, "nframes": 2028, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 12, "Place": 11}, "skill_list": ["Pick", 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"robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow toy on the sofa", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "The right hand puts a yellow toy into the basket", "ts": 1.6, "te": 2.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue toy on the sofa", "ts": 2.75, "te": 3.87, "mistake": false}, {"skill": "Place", "label": "The right hand puts a blue toy into the basket", "ts": 3.87, "te": 4.85, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red toy on the sofa", "ts": 4.85, "te": 5.93, "mistake": false}, {"skill": "Place", "label": "The right hand puts a red toy into the basket", "ts": 5.93, "te": 6.68, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow toy on the sofa", "ts": 6.68, "te": 7.83, "mistake": false}, {"skill": "Place", "label": "The right hand puts a yellow toy into the basket", "ts": 7.83, "te": 8.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white toy on the sofa", "ts": 8.58, "te": 9.97, "mistake": false}, {"skill": "Place", "label": "The right hand puts a white toy into the basket", "ts": 9.97, "te": 11.18, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up an orange toy on the sofa", "ts": 11.18, "te": 12.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts an orange toy into the basket", "ts": 12.78, "te": 13.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 13.63, "te": 14.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 14.78, "te": 15.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 15.67, "te": 17.13, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 17.13, "te": 19.03, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 19.03, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 20.18, "te": 21.92, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 21.92, "te": 23.42, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 23.42, "te": 25.1, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the basket on the sofa", "ts": 25.1, "te": 27.02, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the basket on the table", "ts": 27.02, "te": 32.23, "mistake": false}]}, {"slug": "task_16207_ep027", "kind": "sim", "task": "task_16207", "ep": 27, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.85, "nframes": 2272, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 4, "Place": 4, "Straighten": 2, "HandOver": 1, "Open": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9886, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9886, "right_hand/valid": 0.9886}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 2.35, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a packaging bag to the right hand", "ts": 2.35, "te": 3.4, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate 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{"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 31.75, "te": 32.63, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 32.63, "te": 35.22, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the packed packaging bag", "ts": 35.22, "te": 36.7, "mistake": false}, {"skill": "Place", "label": "The left hand places the packed packaging bag on the coaster", "ts": 36.7, "te": 37.85, "mistake": false}]}, {"slug": "task_16207_ep028", "kind": "sim", "task": "task_16207", "ep": 28, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 52.74, "nframes": 3164, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 20, "skills": {"Pick": 7, "Place": 6, "Scan": 4, "Straighten": 2, "Open": 1}, "skill_list": ["Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a plastic bag on the counter", "ts": 0.0, "te": 2.43, "mistake": false}, {"skill": "Place", "label": "Both arms cooperate to place the plastic bag on the counter", "ts": 2.43, "te": 4.23, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 4.23, "te": 12.18, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 12.18, "te": 13.85, "mistake": false}, {"skill": "Straighten", "label": "The 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left hand puts a product into the plastic bag", "ts": 32.07, "te": 34.15, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 34.15, "te": 36.32, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 36.32, "te": 38.68, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 38.68, "te": 40.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 40.05, "te": 42.8, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 42.8, "te": 45.08, "mistake": false}, {"skill": "Place", "label": "The left hand puts an item into the plastic bag while the right hand places the barcode scanner on the table", "ts": 45.08, "te": 47.48, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the plastic bag on the counter", "ts": 47.48, "te": 50.52, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the plastic bag on the counter", "ts": 50.52, "te": 52.72, "mistake": false}]}, {"slug": "task_16207_ep029", "kind": "sim", "task": "task_16207", "ep": 29, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 23.48, "nframes": 1410, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 4, "Place": 4, "Press": 3, "Close": 2}, "skill_list": ["Close", "Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, 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hand presses the pliers in the toolbox", "ts": 13.83, "te": 15.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the test pen on the table", "ts": 15.1, "te": 16.83, "mistake": false}, {"skill": "Place", "label": "Left hand puts the test pen into the toolbox", "ts": 16.83, "te": 18.5, "mistake": false}, {"skill": "Press", "label": "Left hand presses the test pen in the toolbox", "ts": 18.5, "te": 19.67, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the box", "ts": 19.67, "te": 22.43, "mistake": false}, {"skill": "Close", "label": "Both hands close the box latch", "ts": 22.43, "te": 23.48, "mistake": false}]}, {"slug": "task_16207_ep030", "kind": "sim", "task": "task_16207", "ep": 30, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the mouse and keyboard", "duration": 5.17, "nframes": 311, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": 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snacks on the shelf", "ts": 0.0, "te": 2.1, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 2.1, "te": 4.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 4.18, "te": 5.83, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 5.83, "te": 8.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 8.7, "te": 11.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 11.35, "te": 14.07, "mistake": false}]}, {"slug": "task_16207_ep032", "kind": "sim", "task": "task_16207", "ep": 32, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the kitchen", "duration": 13.8, "nframes": 829, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 3, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 0.0, "te": 2.9, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 2.9, "te": 5.8, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 5.8, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 7.75, "te": 9.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 9.85, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 11.15, "te": 13.8, "mistake": false}]}, {"slug": "task_16207_ep033", "kind": "sim", "task": "task_16207", "ep": 33, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 20.83, "nframes": 1251, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Place": 4, "Pick": 3, "Press": 2, "Close": 2, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Press", "Straighten"], "valids": {"hand_state/left": 0.9904, "hand_state/right": 0.9904, "head_camera/valid": 0.9904, "head_state/valid": 0.9904, "left_end/valid": 0.9904, "left_hand/valid": 0.9904, "right_end/valid": 0.9904, "right_hand/valid": 0.9904}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand puts the hammer into the toolbox", "ts": 0.0, "te": 1.63, "mistake": false}, {"skill": "Press", "label": "Right hand presses the hammer in the toolbox", "ts": 1.63, "te": 2.52, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pliers on the table", "ts": 2.52, "te": 4.5, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pliers into the toolbox", "ts": 4.5, "te": 5.75, "mistake": false}, {"skill": "Press", "label": "Right hand presses the pliers in the toolbox", "ts": 5.75, "te": 7.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the tape measure on the table", "ts": 7.03, "te": 9.18, "mistake": false}, {"skill": "Place", "label": "Left hand puts the tape measure into the toolbox", "ts": 9.18, "te": 11.4, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the utility knife on the table", "ts": 11.4, "te": 12.75, "mistake": false}, {"skill": "Place", "label": "Left hand puts the utility knife into the toolbox", "ts": 12.75, "te": 15.05, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox", "ts": 15.05, "te": 17.38, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox latch", "ts": 17.38, "te": 19.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the toolbox", "ts": 19.03, "te": 20.83, "mistake": false}]}, {"slug": "task_16207_ep034", "kind": "sim", "task": "task_16207", "ep": 34, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods into the shopping basket", "duration": 8.45, "nframes": 508, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 0.0, "te": 3.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a bag of goods into the shopping basket", "ts": 3.63, "te": 5.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 5.4, "te": 8.45, "mistake": false}]}, {"slug": "task_16207_ep035", "kind": "sim", "task": "task_16207", "ep": 35, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store toys", "duration": 8.55, "nframes": 514, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Place": 4}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.8385, "hand_state/right": 0.9261, "head_camera/valid": 0.9689, "head_state/valid": 0.9689, "left_end/valid": 0.8385, "left_hand/valid": 0.8385, "right_end/valid": 0.9261, "right_hand/valid": 0.9261}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 0.0, "te": 1.5, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 1.5, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 2.13, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 3.65, "te": 4.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up a purple toy", "ts": 4.1, "te": 5.48, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts a purple toy into the toy basket", "ts": 5.48, "te": 6.47, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the toy basket", "ts": 6.47, "te": 7.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the toy basket on the table", "ts": 7.15, "te": 8.55, "mistake": false}]}, {"slug": "task_16207_ep036", "kind": "sim", "task": "task_16207", "ep": 36, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 47.5, "nframes": 2850, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 8, "Straighten": 3, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9993, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9993, "right_hand/valid": 0.9993}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 4.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 4.17, "te": 6.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 6.85, "te": 10.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.23, "te": 12.4, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 12.4, "te": 14.72, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.72, "te": 15.73, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 15.73, "te": 18.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 18.0, "te": 19.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 19.17, "te": 21.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 21.23, "te": 23.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 23.2, "te": 25.02, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 25.02, "te": 27.63, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 27.63, "te": 28.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 28.65, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.87, "te": 31.53, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.53, "te": 33.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 33.25, "te": 34.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 34.77, "te": 37.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 37.75, "te": 39.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 39.07, "te": 40.98, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag", "ts": 40.98, "te": 44.87, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 44.87, "te": 47.48, "mistake": false}]}, {"slug": "task_16207_ep037", "kind": "sim", "task": "task_16207", "ep": 37, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 11.92, "nframes": 716, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Drop": 2, "Close": 1, "Straighten": 1, "Place": 1}, "skill_list": ["Close", "Drop", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 2.6, "te": 4.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 4.23, "te": 5.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 5.42, "te": 7.28, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 7.28, "te": 8.4, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 8.4, "te": 9.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 9.33, "te": 10.02, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a white crumpled paper ball into the trash can", "ts": 10.02, "te": 10.73, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 10.73, "te": 11.92, "mistake": false}]}, {"slug": "task_16207_ep038", "kind": "sim", "task": "task_16207", "ep": 38, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the shelf", "duration": 21.73, "nframes": 1305, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 1.92, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the snack is held", "ts": 1.92, "te": 3.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 3.37, "te": 5.55, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 5.55, "te": 8.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 8.15, "te": 10.95, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 10.95, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 14.28, "te": 16.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 16.77, "te": 18.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting the way the snack is held", "ts": 18.97, "te": 21.73, "mistake": false}]}, {"slug": "task_16207_ep039", "kind": "sim", "task": "task_16207", "ep": 39, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.95, "nframes": 1618, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 19, "skills": {"Pick": 7, "Place": 7, "Straighten": 4, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.6916, "hand_state/right": 0.9981, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6916, "left_hand/valid": 0.6916, "right_end/valid": 0.9981, "right_hand/valid": 0.9981}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 0.0, "te": 1.23, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 1.23, "te": 2.55, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 2.55, "te": 3.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 3.85, "te": 5.07, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the yellow triangle", "ts": 5.07, "te": 8.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 8.22, "te": 9.65, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 9.65, "te": 10.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 10.97, "te": 12.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a brown triangle on the table", "ts": 12.25, "te": 13.67, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a brown triangle to the right hand", "ts": 13.67, "te": 14.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 14.6, "te": 15.82, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the wooden frame", "ts": 15.82, "te": 16.6, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 16.6, "te": 17.4, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 17.4, "te": 19.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green square on the table", "ts": 19.33, "te": 20.7, "mistake": false}, {"skill": "Place", "label": "Left hand puts a green square into the wooden frame", "ts": 20.7, "te": 22.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue triangle on the table", "ts": 22.22, "te": 23.75, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a blue triangle into the wooden frame", "ts": 23.75, "te": 25.2, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the wooden frame", "ts": 25.2, "te": 26.95, "mistake": false}]}, {"slug": "task_16207_ep040", "kind": "sim", "task": "task_16207", "ep": 40, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 15.33, "nframes": 920, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Place": 5, "Pick": 4}, "skill_list": ["Pick", 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9.0, "te": 10.18, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 10.18, "te": 11.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the white trash on the table", "ts": 11.37, "te": 13.43, "mistake": false}, {"skill": "Place", "label": "Left hand puts the white trash into the trash can", "ts": 13.43, "te": 15.32, "mistake": false}]}, {"slug": "task_16207_ep041", "kind": "sim", "task": "task_16207", "ep": 41, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Wash the cup", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Wipe": 1, "Place": 1, "Open": 1, "Rinse": 1}, "skill_list": ["Open", "Place", "Rinse", "Wipe"], "valids": 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"mistake": false}]}, {"slug": "task_16207_ep055", "kind": "sim", "task": "task_16207", "ep": 55, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 29.23, "nframes": 1755, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Left hand adjusts the position of the black strap", "ts": 0.0, "te": 2.58, 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"task_16207_ep058", "kind": "sim", "task": "task_16207", "ep": 58, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the scattered toys into the cardboard box and the iron box", "duration": 29.72, "nframes": 1784, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 28, "skills": {"Pick": 14, "Place": 13, "Straighten": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.6598, "hand_state/right": 0.9983, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6598, "left_hand/valid": 0.6598, "right_end/valid": 0.9983, "right_hand/valid": 0.9983}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a pink toy from the floor", 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"episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 1, "plug": 1, "PressButton": 1, "Straighten": 1}, "skill_list": ["Pick", "PressButton", "Straighten", "plug"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.62, "mistake": false}, {"skill": "plug", "label": "Both hands work together to plug the charging cable into the VR headset", "ts": 1.62, "te": 4.42, "mistake": false}, {"skill": "PressButton", "label": "Both hands work together to press the button on the VR headset", "ts": 4.42, "te": 7.0, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the charging cable on the VR headset", "ts": 7.0, "te": 17.65, "mistake": false}]}, {"slug": "task_16207_ep061", "kind": "sim", "task": "task_16207", "ep": 61, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Rotate": 1, "Straighten": 1}, "skill_list": ["Rotate", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", 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"N Customer MEgo Bare Hand", "instruction": "Hang clothes", "duration": 25.17, "nframes": 1511, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Hang": 2}, "skill_list": ["Hang", "Pick", "Straighten"], "valids": {"hand_state/left": 0.9603, "hand_state/right": 0.9252, "head_camera/valid": 0.9676, "head_state/valid": 0.9676, "left_end/valid": 0.9603, "left_hand/valid": 0.9603, "right_end/valid": 0.9252, "right_hand/valid": 0.9252}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the bed", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the hanger on the clothes drying 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"warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pour": 2, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 2.45, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the glass on the table", "ts": 2.45, "te": 9.37, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the mug on the table", "ts": 9.37, "te": 18.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 18.45, "te": 22.43, "mistake": false}]}, {"slug": "task_16207_ep065", "kind": "sim", "task": "task_16207", "ep": 65, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 23.25, "nframes": 1396, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 16, "skills": {"Pick": 6, "Place": 6, "Straighten": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.3646, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.3646, "left_hand/valid": 0.3646, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 0.0, "te": 1.43, "mistake": false}, {"skill": 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"mistake": false}]}, {"slug": "task_16207_ep066", "kind": "sim", "task": "task_16207", "ep": 66, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 32.32, "nframes": 1940, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand adjusts the position of the black strap on the table", "ts": 0.0, 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basket", "ts": 2.98, "te": 3.88, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the green clothing", "ts": 3.88, "te": 4.93, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 4.93, "te": 6.17, "mistake": false}]}, {"slug": "task_16207_ep069", "kind": "sim", "task": "task_16207", "ep": 69, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 13.37, "nframes": 803, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Drop": 3, "Place": 1}, "skill_list": ["Drop", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 0.0, "te": 1.77, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 1.77, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 3.3, "te": 4.57, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 4.57, "te": 6.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 6.03, "te": 7.2, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 7.2, "te": 9.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 9.27, "te": 11.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 11.0, "te": 13.37, "mistake": false}]}, {"slug": "task_16207_ep070", "kind": "sim", "task": "task_16207", "ep": 70, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.87, "nframes": 533, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.6, "te": 5.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 5.3, "te": 7.47, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 7.47, "te": 8.87, "mistake": false}]}, {"slug": "task_16207_ep071", "kind": "sim", "task": "task_16207", "ep": 71, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 27.02, "nframes": 1622, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 3, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands coordinate to pick up a bag of snacks from the shopping basket", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 2.3, "te": 7.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 7.0, "te": 9.72, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 9.72, "te": 17.35, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the label", "ts": 17.35, "te": 18.35, "mistake": false}, {"skill": "Straighten", "label": "Left hand adjusts the position of a bag of snacks while right hand adjusts the position of the label", "ts": 18.35, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 19.48, "te": 21.4, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 21.4, "te": 27.02, "mistake": false}]}, {"slug": "task_16207_ep072", "kind": "sim", "task": "task_16207", "ep": 72, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 27.1, "nframes": 1627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 17, "skills": {"Pick": 7, "Place": 7, "Straighten": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9226, "hand_state/right": 0.9779, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9226, "left_hand/valid": 0.9226, "right_end/valid": 0.9779, "right_hand/valid": 0.9779}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 1.6, "te": 4.27, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 4.27, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 7.1, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 7.1, "te": 8.75, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 8.75, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 10.35, "te": 11.45, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 11.45, "te": 12.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 12.87, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the orange parallelogram", "ts": 14.23, "te": 15.65, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 15.65, "te": 17.17, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 17.17, "te": 20.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 20.05, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 21.6, "te": 22.42, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the brown triangle", "ts": 22.42, "te": 24.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 24.3, "te": 25.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 25.82, "te": 27.1, "mistake": false}]}, {"slug": "task_16207_ep073", "kind": "sim", "task": "task_16207", "ep": 73, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the wrench into the tool box", "duration": 5.45, "nframes": 328, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Place": 1, "Press": 1}, "skill_list": ["Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the wrench on the table", "ts": 0.0, "te": 2.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the wrench into the tool box", "ts": 2.18, "te": 3.62, "mistake": false}, {"skill": "Press", "label": "The right hand presses the wrench inside the tool box", "ts": 3.62, "te": 5.45, "mistake": false}]}, {"slug": "task_16207_ep074", "kind": "sim", "task": "task_16207", "ep": 74, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 46.63, "nframes": 2799, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 7, "Place": 7, "Straighten": 3, "Scan": 3, "Open": 1, "HandOver": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.28, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.28, "te": 6.45, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 6.45, "te": 11.97, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 11.97, "te": 13.32, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 13.32, "te": 16.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 16.0, "te": 17.15, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 17.15, "te": 20.52, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 20.52, "te": 21.93, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the product to the right hand", "ts": 21.93, "te": 22.6, "mistake": false}, {"skill": "Place", "label": "The right hand places a product into the plastic bag", "ts": 22.6, "te": 24.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 24.28, "te": 25.57, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.57, "te": 26.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.98, "te": 28.33, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 28.33, "te": 31.22, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 31.22, "te": 32.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 32.17, "te": 33.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 33.98, "te": 35.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 35.33, "te": 37.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 37.35, "te": 38.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 38.77, "te": 43.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 43.8, "te": 45.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 45.15, "te": 46.63, "mistake": false}]}, {"slug": "task_16207_ep075", "kind": "sim", "task": "task_16207", "ep": 75, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 43.07, "nframes": 2584, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 30, "skills": {"Pick": 15, "Place": 14, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 0.0, "te": 1.95, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 1.95, "te": 3.43, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 3.43, "te": 4.78, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 4.78, "te": 6.2, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 6.2, "te": 7.62, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.62, "te": 8.77, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 8.77, "te": 10.52, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 10.52, "te": 11.6, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.6, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 14.07, "te": 15.25, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 15.25, "te": 16.38, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 16.38, "te": 18.63, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 18.63, "te": 19.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 19.92, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 21.6, "te": 23.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 23.48, "te": 25.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 25.2, "te": 25.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 25.92, "te": 27.53, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 27.53, "te": 28.95, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 28.95, "te": 30.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 30.37, "te": 32.93, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 32.93, "te": 34.28, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 34.28, "te": 35.7, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 35.7, "te": 36.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 36.72, "te": 38.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 38.07, "te": 39.95, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 39.95, "te": 41.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 41.22, "te": 42.12, "mistake": false}, {"skill": "Stack", "label": "The left hand stacks a green part on top of another green part", "ts": 42.12, "te": 43.05, "mistake": false}]}, {"slug": "task_16207_ep076", "kind": "sim", "task": "task_16207", "ep": 76, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.68, "nframes": 1961, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Place": 5, "Pick": 3, "HandOver": 1, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9561, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9561, "right_hand/valid": 0.9561}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 1.75, "te": 2.82, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.82, "te": 6.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.97, "te": 8.25, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.25, "te": 14.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.03, "te": 15.52, "mistake": false}, {"skill": "Place", "label": "Right hand puts a straw into the packaging bag", "ts": 15.52, "te": 17.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 17.67, "te": 24.17, "mistake": false}, {"skill": "Tear", "label": "Both hands coordinate to tear off the packaging strip on the packaging bag", "ts": 24.17, "te": 25.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 25.73, "te": 26.53, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 26.53, "te": 29.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.7, "te": 31.0, "mistake": false}, {"skill": "Place", "label": "Left hand places the packaging bag on the table", "ts": 31.0, "te": 32.67, "mistake": false}]}, {"slug": "task_16207_ep077", "kind": "sim", "task": "task_16207", "ep": 77, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 6.58, "nframes": 396, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 1, "skills": {"Straighten": 1}, "skill_list": ["Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Dual arms coordinate to adjust the position of the chair", "ts": 0.0, "te": 6.58, "mistake": false}]}, {"slug": "task_16207_ep078", "kind": "sim", "task": "task_16207", "ep": 78, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Wash the glass", "duration": 24.93, "nframes": 1497, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Wipe": 1, "Place": 1, "HandOver": 1, "Open": 1, "Rinse": 1}, "skill_list": ["HandOver", "Open", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9673, "hand_state/right": 0.9967, "head_camera/valid": 0.9967, "head_state/valid": 0.9967, "left_end/valid": 0.9673, "left_hand/valid": 0.9673, "right_end/valid": 0.9967, "right_hand/valid": 0.9967}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "Both hands coordinate to wipe the glass with the yellow sponge", "ts": 0.0, "te": 15.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow sponge by the sink", "ts": 15.93, "te": 17.0, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the glass to the right hand", "ts": 17.0, "te": 18.07, "mistake": false}, {"skill": "Open", "label": "Left hand turns on the faucet", "ts": 18.07, "te": 18.63, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse the glass under the faucet", "ts": 18.63, "te": 24.93, "mistake": false}]}, {"slug": "task_16207_ep079", "kind": "sim", "task": "task_16207", "ep": 79, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 8.9, "nframes": 535, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9346, "hand_state/right": 0.9832, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9346, "left_hand/valid": 0.9346, "right_end/valid": 0.9832, "right_hand/valid": 0.9832}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a green piece of clothing from the basket", "ts": 0.0, "te": 2.38, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 2.38, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 3.65, "te": 4.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a patterned piece of clothing from the basket", "ts": 4.58, "te": 6.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 6.4, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a patterned piece of clothing into the washing machine", "ts": 7.75, "te": 8.9, "mistake": false}]}, {"slug": "task_16207_ep080", "kind": "sim", "task": "task_16207", "ep": 80, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 11.17, "nframes": 671, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Rotate": 2, "Pick": 1, "Insert": 1, "Press": 1}, "skill_list": ["Insert", "Pick", "Press", "Rotate"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 1.1, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 1.1, "te": 4.03, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 4.03, "te": 5.37, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 5.37, "te": 10.8, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to face forward", "ts": 10.8, "te": 11.18, "mistake": false}]}, {"slug": "task_16207_ep081", "kind": "sim", "task": "task_16207", "ep": 81, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 15.6, "nframes": 937, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Pick": 2, "Insert": 2, "PressButton": 2, "Straighten": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 0.9957, "hand_state/right": 0.9957, "head_camera/valid": 0.9957, "head_state/valid": 0.9957, "left_end/valid": 0.9957, "left_hand/valid": 0.9957, "right_end/valid": 0.9957, "right_hand/valid": 0.9957}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 2.48, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 2.48, "te": 5.67, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 5.67, "te": 6.78, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.78, "te": 9.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 9.65, "te": 10.05, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 10.05, "te": 11.45, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 11.45, "te": 15.6, "mistake": false}]}, {"slug": "task_16207_ep082", "kind": "sim", "task": "task_16207", "ep": 82, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store tableware", "duration": 7.3, "nframes": 439, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Place": 1, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 0.0, "te": 1.55, "mistake": false}, {"skill": "Place", "label": "Right hand places a bowl on the table", "ts": 1.55, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 3.25, "te": 4.65, "mistake": false}, {"skill": "Stack", "label": "The right hand stacks one bowl on top of another bowl", "ts": 4.65, "te": 7.3, "mistake": false}]}, {"slug": "task_16207_ep083", "kind": "sim", "task": "task_16207", "ep": 83, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up bedding", "duration": 27.12, "nframes": 1628, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Straighten": 9, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9883, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9883, "left_hand/valid": 0.9883, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 0.0, "te": 3.38, "mistake": false}, {"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 3.38, "te": 4.3, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the quilt", "ts": 4.3, "te": 5.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 5.85, "te": 7.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the bed sheet", "ts": 7.05, "te": 9.07, "mistake": false}, {"skill": "Straighten", "label": "Left hand tidies up the bed sheet", "ts": 9.07, "te": 12.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 12.13, "te": 13.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 13.65, "te": 17.17, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 17.17, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up a pillow on the bed", "ts": 19.48, "te": 25.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a pillow beside the head of the bed", "ts": 25.35, "te": 27.12, "mistake": false}]}, {"slug": "task_16207_ep084", "kind": "sim", "task": "task_16207", "ep": 84, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 10.43, "nframes": 627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 3, "Straighten": 3, "Place": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.941, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.941, "right_hand/valid": 0.941}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the basket", "ts": 0.0, "te": 1.82, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 1.82, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 2.6, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a piece of clothing from the basket", "ts": 3.25, "te": 4.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 4.85, "te": 6.27, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 6.27, "te": 6.88, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a piece of clothing from the basket", "ts": 6.88, "te": 8.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 8.4, "te": 9.37, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 9.37, "te": 10.43, "mistake": false}]}, {"slug": "task_16207_ep085", "kind": "sim", "task": "task_16207", "ep": 85, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water into the cup", "duration": 12.57, "nframes": 755, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pick": 1, "Pour": 1}, "skill_list": ["Pick", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 2.93, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the cup", "ts": 2.93, "te": 12.57, "mistake": false}]}, {"slug": "task_16207_ep086", "kind": "sim", "task": "task_16207", "ep": 86, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 41.57, "nframes": 2495, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 27, "skills": {"Pick": 9, "Place": 9, "Straighten": 4, "Scan": 3, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9996, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9996, "left_hand/valid": 0.9996, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.15, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes the plastic bag to the left hand", "ts": 2.15, "te": 3.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 3.42, "te": 4.55, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 4.55, "te": 8.6, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.6, "te": 9.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 9.57, "te": 10.35, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 10.35, "te": 13.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 13.18, "te": 14.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 14.35, "te": 15.7, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 15.7, "te": 17.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 17.35, "te": 18.52, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 18.52, "te": 19.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 19.8, "te": 20.78, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 20.78, "te": 23.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 23.4, "te": 24.55, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 24.55, "te": 26.15, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 26.15, "te": 27.77, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 27.77, "te": 29.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 29.22, "te": 29.95, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 29.95, "te": 32.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 32.85, "te": 34.62, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 34.62, "te": 36.37, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 36.37, "te": 36.77, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 36.77, "te": 37.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 37.13, "te": 37.97, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 37.97, "te": 38.23, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 38.23, "te": 41.57, "mistake": false}]}, {"slug": "task_16207_ep087", "kind": "sim", "task": "task_16207", "ep": 87, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the parts into the tray", "duration": 36.17, "nframes": 2171, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Pick": 12, "Place": 12, "Straighten": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 0.0, "te": 2.22, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 2.22, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 3.25, "te": 4.82, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 4.82, "te": 6.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 6.12, "te": 7.53, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part into the red tray", "ts": 7.53, "te": 8.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 8.82, "te": 10.17, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 10.17, "te": 11.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 11.48, "te": 13.38, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 13.38, "te": 14.8, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 14.8, "te": 16.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 16.37, "te": 17.62, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the white part", "ts": 17.62, "te": 18.47, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white part from the blue tray", "ts": 18.47, "te": 19.65, "mistake": false}, {"skill": "Place", "label": "Right hand places a white part into the red tray", "ts": 19.65, "te": 20.97, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 20.97, "te": 23.17, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 23.17, "te": 24.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 24.77, "te": 26.4, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 26.4, "te": 27.97, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a black part from the blue tray", "ts": 27.97, "te": 29.17, "mistake": false}, {"skill": "Place", "label": "Left hand places a black part into the red tray", "ts": 29.17, "te": 30.5, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 30.5, "te": 31.8, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part into the red tray", "ts": 31.8, "te": 33.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 33.3, "te": 34.88, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part into the red tray", "ts": 34.88, "te": 36.17, "mistake": false}]}, {"slug": "task_16207_ep088", "kind": "sim", "task": "task_16207", "ep": 88, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 32.87, "nframes": 1973, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 21, "skills": {"Pick": 7, "Place": 7, "Scan": 3, "Straighten": 2, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9995, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9995, "left_hand/valid": 0.9995, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes the plastic bag to the left hand", "ts": 1.3, "te": 2.02, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.02, "te": 3.58, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 3.58, "te": 6.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 6.28, "te": 7.4, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold a product", "ts": 7.4, "te": 8.43, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the scanner on the table", "ts": 8.43, "te": 9.47, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 9.47, "te": 11.35, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 11.35, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 12.87, "te": 14.17, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 14.17, "te": 16.9, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 16.9, "te": 18.7, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 18.7, "te": 19.82, "mistake": false}, {"skill": "Scan", "label": "The right hand uses the scanner to scan a product held in the left hand", "ts": 19.82, "te": 23.45, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner on the table", "ts": 23.45, "te": 24.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 24.57, "te": 26.45, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 26.45, "te": 28.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 28.07, "te": 28.6, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 28.6, "te": 29.53, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 29.53, "te": 29.98, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 29.98, "te": 32.87, "mistake": false}]}, {"slug": "task_16207_ep089", "kind": "sim", "task": "task_16207", "ep": 89, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up snacks on the shelf", "duration": 17.17, "nframes": 1031, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Pick": 4, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 3.03, "mistake": false}, {"skill": "Place", "label": "Right hand places the snacks on the shelf", "ts": 3.03, "te": 5.38, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 5.38, "te": 7.68, "mistake": false}, {"skill": "Place", "label": "Right hand places the snacks on the shelf", "ts": 7.68, "te": 10.27, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up a bag of snacks on the shelf", "ts": 10.27, "te": 12.33, "mistake": false}, {"skill": "Place", "label": "Right hand places the snacks on the shelf", "ts": 12.33, "te": 15.35, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 15.35, "te": 17.17, "mistake": false}]}, {"slug": "task_16207_ep090", "kind": "sim", "task": "task_16207", "ep": 90, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Arrange the snacks", "duration": 29.15, "nframes": 1750, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 4, "Place": 4, "Straighten": 4}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a bag of green snacks from the basket", "ts": 0.0, "te": 2.72, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of green snacks on the shelf", "ts": 2.72, "te": 5.5, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the snacks", "ts": 5.5, "te": 6.97, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a bag of green snacks from the basket", "ts": 6.97, "te": 9.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of green snacks on the shelf", "ts": 9.35, "te": 11.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 11.13, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of red snacks from the basket", "ts": 12.87, "te": 16.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of red snacks on the shelf", "ts": 16.07, "te": 20.15, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 20.15, "te": 21.9, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of red snacks from the basket", "ts": 21.9, "te": 24.47, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a bag of red snacks on the shelf", "ts": 24.47, "te": 27.1, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the snacks", "ts": 27.1, "te": 29.15, "mistake": false}]}, {"slug": "task_16207_ep091", "kind": "sim", "task": "task_16207", "ep": 91, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Sort parts", "duration": 40.83, "nframes": 2451, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 30, "skills": {"Pick": 15, "Place": 14, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 0.0, "te": 0.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 0.2, "te": 1.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 1.37, "te": 2.68, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 2.68, "te": 4.13, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 4.13, "te": 5.8, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 5.8, "te": 7.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 7.37, "te": 8.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 8.72, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 10.35, "te": 12.0, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 12.0, "te": 13.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 13.87, "te": 15.65, "mistake": false}, {"skill": "Stack", "label": "Right hand stacks a green part on another green part", "ts": 15.65, "te": 17.35, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 17.35, "te": 20.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 20.37, "te": 21.53, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.53, "te": 22.78, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 22.78, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 23.98, "te": 25.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.45, "te": 26.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 26.7, "te": 28.08, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.08, "te": 29.25, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 29.25, "te": 30.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 30.45, "te": 31.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 31.6, "te": 33.02, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 33.02, "te": 34.32, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 34.32, "te": 34.62, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 34.62, "te": 35.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 35.42, "te": 36.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 36.15, "te": 37.18, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 37.18, "te": 38.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 38.37, "te": 40.83, "mistake": false}]}, {"slug": "task_16207_ep092", "kind": "sim", "task": "task_16207", "ep": 92, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water into the cup", "duration": 17.55, "nframes": 1054, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Pour": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the cup", "ts": 3.22, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 15.0, "te": 17.55, "mistake": false}]}, {"slug": "task_16207_ep093", "kind": "sim", "task": "task_16207", "ep": 93, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 32.78, "nframes": 1968, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Wipe": 2, "Place": 2, "Rinse": 2, "Pick": 2}, "skill_list": ["Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9817, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9817, "left_hand/valid": 0.9817, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a glass cup clean", "ts": 0.0, "te": 10.27, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge by the sink", "ts": 10.27, "te": 11.37, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a glass cup", "ts": 11.37, "te": 24.7, "mistake": false}, {"skill": "Place", "label": "The right hand places a glass cup on the table", "ts": 24.7, "te": 25.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white cup from the sink", "ts": 25.4, "te": 25.95, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup", "ts": 25.95, "te": 30.08, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge from beside the sink", "ts": 30.08, "te": 31.0, "mistake": false}, {"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a white cup clean", "ts": 31.0, "te": 32.78, "mistake": false}]}, {"slug": "task_16207_ep094", "kind": "sim", "task": "task_16207", "ep": 94, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 33.07, "nframes": 1985, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 4, "Place": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9798, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9798, "right_hand/valid": 0.9798}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a milk tea bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the milk tea bag", "ts": 1.75, "te": 6.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.08, "te": 7.2, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 7.2, "te": 10.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 10.63, "te": 12.12, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a straw inside the milk tea bag", "ts": 12.12, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 14.23, "te": 19.95, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip", "ts": 19.95, "te": 24.13, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 24.13, "te": 25.25, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 25.25, "te": 29.05, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the milk tea bag on the table", "ts": 29.05, "te": 30.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the milk tea bag on the table", "ts": 30.0, "te": 33.07, "mistake": false}]}, {"slug": "task_16207_ep095", "kind": "sim", "task": "task_16207", "ep": 95, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.87, "nframes": 2033, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 11, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 2.67, "te": 4.15, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 4.15, "te": 5.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 5.85, "te": 6.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 6.98, "te": 8.53, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 8.53, "te": 10.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 10.07, "te": 11.62, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 11.62, "te": 13.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 13.45, "te": 14.95, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 14.95, "te": 17.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 17.57, "te": 19.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 19.18, "te": 20.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 20.45, "te": 21.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 21.75, "te": 22.67, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 22.67, "te": 23.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 23.85, "te": 24.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 24.7, "te": 26.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 26.3, "te": 27.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 27.58, "te": 29.05, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 29.05, "te": 29.93, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 29.93, "te": 32.7, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 32.7, "te": 33.87, "mistake": false}]}, {"slug": "task_16207_ep096", "kind": "sim", "task": "task_16207", "ep": 96, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.18, "nframes": 2232, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 6, "Pick": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9633, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9633, "right_hand/valid": 0.9633}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the milk tea bag on the table while right hand picks up the milk tea on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the milk tea on the table", "ts": 2.6, "te": 3.33, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the milk tea bag", "ts": 3.33, "te": 7.42, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the milk tea bag on the table", "ts": 7.42, "te": 10.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 10.4, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 11.15, "te": 15.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 15.08, "te": 16.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a straw into the milk tea bag", "ts": 16.42, "te": 19.62, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 19.62, "te": 23.5, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip on the milk tea bag", "ts": 23.5, "te": 28.33, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 28.33, "te": 29.5, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 29.5, "te": 33.73, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the milk tea bag on the table", "ts": 33.73, "te": 34.8, "mistake": false}, {"skill": "Place", "label": "The left hand places the milk tea bag on the table", "ts": 34.8, "te": 37.18, "mistake": false}]}, {"slug": "task_16207_ep097", "kind": "sim", "task": "task_16207", "ep": 97, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 37.5, "nframes": 2250, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 13, "Place": 13}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 1.6, "te": 2.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 2.63, "te": 4.02, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 4.02, "te": 5.32, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 5.32, "te": 7.23, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.23, "te": 8.68, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 8.68, "te": 9.83, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 9.83, "te": 11.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.22, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.13, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a black part from the blue tray", "ts": 14.13, "te": 16.43, "mistake": false}, {"skill": "Place", "label": "The left hand places a black part on the red tray", "ts": 16.43, "te": 18.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 18.27, "te": 19.57, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 19.57, "te": 21.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.37, "te": 23.4, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 23.4, "te": 24.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 24.52, "te": 25.97, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.97, "te": 27.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 27.03, "te": 28.85, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.85, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 29.87, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 31.58, "te": 32.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 32.7, "te": 33.82, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 33.82, "te": 34.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 34.85, "te": 35.88, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 35.88, "te": 37.48, "mistake": false}]}, {"slug": "task_16207_ep098", "kind": "sim", "task": "task_16207", "ep": 98, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the snack bag", "duration": 37.33, "nframes": 2241, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 5, "Place": 5, "HandOver": 2, "Straighten": 2}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow snack bag from the basket", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow snack bag on the shelf", "ts": 2.67, "te": 6.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 6.82, "te": 9.02, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 9.02, "te": 10.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 10.38, "te": 13.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 13.22, "te": 14.15, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 14.15, "te": 15.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 15.38, "te": 20.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 20.25, "te": 22.95, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 22.95, "te": 26.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 26.6, "te": 29.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 29.98, "te": 31.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 31.67, "te": 33.45, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 33.45, "te": 37.33, "mistake": false}]}, {"slug": "task_16207_ep099", "kind": "sim", "task": "task_16207", "ep": 99, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make slush", "duration": 53.39, "nframes": 3204, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Place": 11, "Pick": 7, "Takeout (remove)": 4, "Screw (tighten)": 1, "Rotate": 1, "Pour": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Screw (tighten)", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Place", "label": "The right hand places the lid on the table", "ts": 2.47, "te": 3.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a cup on the table", "ts": 3.87, "te": 4.33, "mistake": false}, {"skill": "Place", "label": "The right hand pours the ice cubes from the cup into the shaved ice machine", "ts": 4.33, "te": 5.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a cup on the table", "ts": 5.37, "te": 6.33, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the lid on the table", "ts": 6.33, "te": 7.13, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 7.13, "te": 9.4, "mistake": false}, {"skill": "Screw (tighten)", "label": "Both hands work together to tighten the lid on the shaved ice machine", "ts": 9.4, "te": 10.9, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 10.9, "te": 28.87, "mistake": false}, {"skill": "Takeout (remove)", "label": "The right hand takes out the plastic box from the shaved ice machine", "ts": 28.87, "te": 29.8, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the table", "ts": 29.8, "te": 30.5, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use a spoon to pour the slush from the plastic box into a cup", "ts": 30.5, "te": 34.2, "mistake": false}, {"skill": "Place", "label": "The left hand places a spoon on the table", "ts": 34.2, "te": 34.88, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 34.88, "te": 35.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the topping box", "ts": 35.98, "te": 37.47, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 37.47, "te": 38.67, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 38.67, "te": 39.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 39.78, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 40.98, "te": 42.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 42.78, "te": 44.5, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 44.5, "te": 45.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a small spoon from the cup", "ts": 45.4, "te": 47.7, "mistake": false}, {"skill": "Place", "label": "The left hand places a small spoon into a cup", "ts": 47.7, "te": 49.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a cup from the table", "ts": 49.25, "te": 50.28, "mistake": false}, {"skill": "Place", "label": "The left hand places a cup on the table", "ts": 50.28, "te": 53.38, "mistake": false}]}, {"slug": "task_16207_ep100", "kind": "sim", "task": "task_16207", "ep": 100, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 12.33, "nframes": 741, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Insert": 2, "Straighten": 2, "PressButton": 2, "Pick": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 0.9, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 0.9, "te": 3.63, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 3.63, "te": 6.55, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.55, "te": 8.42, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 8.42, "te": 9.02, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 9.02, "te": 10.68, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 10.68, "te": 12.33, "mistake": false}]}, {"slug": "task_16207_ep101", "kind": "sim", "task": "task_16207", "ep": 101, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 43.27, "nframes": 2597, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 7, "Straighten": 4, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 2.98, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.98, "te": 5.33, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 5.33, "te": 8.37, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.37, "te": 10.0, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 10.0, "te": 13.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 13.12, "te": 14.07, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 14.07, "te": 16.28, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 16.28, "te": 17.82, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 17.82, "te": 20.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the plastic bag", "ts": 20.03, "te": 21.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 21.25, "te": 22.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 22.28, "te": 23.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 23.23, "te": 26.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 26.8, "te": 27.8, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 27.8, "te": 29.33, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.33, "te": 31.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.1, "te": 32.55, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 32.55, "te": 35.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 35.8, "te": 36.93, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 36.93, "te": 38.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag", "ts": 38.47, "te": 40.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 40.42, "te": 43.27, "mistake": false}]}, {"slug": "task_16207_ep102", "kind": "sim", "task": "task_16207", "ep": 102, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 49.32, "nframes": 2959, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 8, "Place": 8, "Scan": 3, "Open": 1, "HandOver": 1, "Straighten": 1, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a transparent plastic bag from the table", "ts": 0.0, "te": 2.52, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the transparent plastic bag on the table", "ts": 2.52, "te": 6.78, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 6.78, "te": 10.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 10.57, "te": 11.88, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a beverage bottle from the blue shopping basket", "ts": 11.88, "te": 13.75, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 13.75, "te": 17.12, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 17.12, "te": 19.45, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the beverage bottle to the right hand", "ts": 19.45, "te": 20.12, "mistake": false}, {"skill": "Place", "label": "The right hand puts the beverage bottle into the plastic bag", "ts": 20.12, "te": 21.38, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the blue shopping basket", "ts": 21.38, "te": 22.88, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 22.88, "te": 24.53, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 24.53, "te": 26.07, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 26.07, "te": 27.98, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 27.98, "te": 30.02, "mistake": false}, {"skill": "Place", "label": "The left hand puts the product into the plastic bag", "ts": 30.02, "te": 31.5, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the blue shopping basket", "ts": 31.5, "te": 33.45, "mistake": false}, {"skill": "Flip", "label": "Both hands work together to flip the product to its reverse side", "ts": 33.45, "te": 35.32, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 35.32, "te": 36.85, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 36.85, "te": 39.77, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 39.77, "te": 41.52, "mistake": false}, {"skill": "Place", "label": "The left hand puts the product into the plastic bag", "ts": 41.52, "te": 44.22, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 44.22, "te": 45.12, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 45.12, "te": 49.3, "mistake": false}]}, {"slug": "task_16207_ep103", "kind": "sim", "task": "task_16207", "ep": 103, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 25.88, "nframes": 1554, "fps": 30, "usability": 1.0, "overall": 4.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 8, "Straighten": 4, "HandOver": 1, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9704, "hand_state/right": 0.9916, "head_camera/valid": 0.9916, "head_state/valid": 0.9916, "left_end/valid": 0.9704, "left_hand/valid": 0.9704, "right_end/valid": 0.9916, "right_hand/valid": 0.9916}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 0.0, "te": 0.8, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 0.8, "te": 1.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the red triangle", "ts": 1.4, "te": 1.8, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the red triangle", "ts": 1.8, "te": 3.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow triangle on the table", "ts": 3.27, "te": 5.37, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put a yellow triangle into the wooden frame", "ts": 5.37, "te": 8.3, "mistake": false}, {"skill": "Straighten", "label": "Left hand adjusts the position of the green square", "ts": 8.3, "te": 9.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue triangle on the table", "ts": 9.38, "te": 10.52, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over a blue triangle to the right hand", "ts": 10.52, "te": 11.22, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 11.22, "te": 12.28, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green square on the table", "ts": 12.28, "te": 13.05, "mistake": false}, {"skill": "Place", "label": "Left hand puts a green square into the wooden frame", "ts": 13.05, "te": 14.53, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 14.53, "te": 15.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 15.82, "te": 17.67, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 17.67, "te": 19.18, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 19.18, "te": 20.78, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the table", "ts": 20.78, "te": 22.03, "mistake": true}, {"skill": "Place", "label": "Left hand puts an orange parallelogram into the wooden frame", "ts": 22.03, "te": 22.93, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the wooden frame", "ts": 22.93, "te": 23.65, "mistake": false}, {"skill": "Flip", "label": "Both hands coordinate to flip the orange parallelogram", "ts": 23.65, "te": 24.37, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put an orange parallelogram into the wooden frame", "ts": 24.37, "te": 25.15, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the orange parallelogram", "ts": 25.15, "te": 25.88, "mistake": false}]}, {"slug": "task_16207_ep104", "kind": "sim", "task": "task_16207", "ep": 104, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store items", "duration": 22.72, "nframes": 1364, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Place": 4, "Close": 1}, "skill_list": ["Close", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a pink item on the table", "ts": 0.0, "te": 1.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the pink item into the cabinet", "ts": 1.65, "te": 4.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white bottle on the table", "ts": 4.08, "te": 5.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the white bottle into the cabinet", "ts": 5.65, "te": 8.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white bottle on the table", "ts": 8.6, "te": 10.5, "mistake": false}, {"skill": "Place", "label": "Left hand places the white bottle into the cabinet", "ts": 10.5, "te": 12.93, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white box on the table", "ts": 12.93, "te": 14.95, "mistake": false}, {"skill": "Place", "label": "Left hand places the white box into the cabinet", "ts": 14.95, "te": 17.62, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the cabinet", "ts": 17.62, "te": 22.72, "mistake": false}]}, {"slug": "task_16207_ep105", "kind": "sim", "task": "task_16207", "ep": 105, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 28.58, "nframes": 1715, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Straighten": 3, "Pick": 3, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 1.88, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 1.88, "te": 12.02, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 12.02, "te": 13.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 13.0, "te": 15.8, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 15.8, "te": 17.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 17.73, "te": 18.57, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 18.57, "te": 28.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 28.05, "te": 28.57, "mistake": false}]}, {"slug": "task_16207_ep106", "kind": "sim", "task": "task_16207", "ep": 106, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make shaved ice", "duration": 51.5, "nframes": 3090, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Place": 8, "Pick": 7, "Pour": 5, "Takeout (remove)": 3, "Screw (tighten)": 1, "Rotate": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Screw (tighten)", "Takeout (remove)"], "valids": {"hand_state/left": 0.9994, "hand_state/right": 0.9994, "head_camera/valid": 0.9994, "head_state/valid": 0.9994, "left_end/valid": 0.9994, "left_hand/valid": 0.9994, "right_end/valid": 0.9994, "right_hand/valid": 0.9994}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 3.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the lid on the table", "ts": 3.85, "te": 5.37, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic cup on the table", "ts": 5.37, "te": 6.22, "mistake": false}, {"skill": "Pour", "label": "The right hand pours the ice cubes from the plastic cup into the shaved ice machine", "ts": 6.22, "te": 7.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic cup on the table", "ts": 7.4, "te": 8.1, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the lid on the table", "ts": 8.1, "te": 9.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 9.4, "te": 10.87, "mistake": false}, {"skill": "Screw (tighten)", "label": "Both hands work together to tighten the lid of the shaved ice machine", "ts": 10.87, "te": 12.65, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 12.65, "te": 28.17, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic box inside the shaved ice machine while the left hand picks up the spoon on the table", "ts": 28.17, "te": 29.7, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use the spoon to pour the slush from the plastic box into the mug", "ts": 29.7, "te": 33.17, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon on the table", "ts": 33.17, "te": 33.98, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 33.98, "te": 35.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the small spoon from the topping box", "ts": 35.63, "te": 36.73, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 36.73, "te": 37.77, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 37.77, "te": 38.83, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 38.83, "te": 40.45, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 40.45, "te": 41.27, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 41.27, "te": 43.95, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 43.95, "te": 44.92, "mistake": false}, {"skill": "Place", "label": "The left hand puts the small spoon back into the topping box", "ts": 44.92, "te": 45.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the transparent spoon from the transparent cup", "ts": 45.75, "te": 46.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the transparent spoon into the mug", "ts": 46.98, "te": 48.2, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the mug on the table", "ts": 48.2, "te": 49.23, "mistake": false}, {"skill": "Place", "label": "The left hand places the mug on the coaster", "ts": 49.23, "te": 51.48, "mistake": false}]}], "skc": {"Clip": "#4f83cc", "Close": "#e0913a", "CloseBox": "#5aa469", "Cut": "#c0504d", "Dip": "#8064a2", "Drop": "#4bacc6", "Flip": "#d98594", "Fold": "#9b8f2e", "HandOver": "#7f8fa6", "Hang": "#674ea7", "Insert": "#3d9970", "Knead": "#b8860b", "Open": "#a0522d", "Paint": "#2e8b8b", "Pick": "#b5651d", "Place": "#6a5acd", "Plug": "#556b2f", "Pour": "#8b3a62", "Press": "#487eb0", "PressButton": "#cc8e35", "Pull": "#6b8e23", "Rinse": "#9370db", "Rotate": "#20b2aa", "Scan": "#cd853f", "Scoop": "#4f83cc", "Screw (tighten)": "#e0913a", "Smear": "#5aa469", "Stack": "#c0504d", "Stir": "#8064a2", "Straighten": "#4bacc6", "Takedown": "#d98594", "Takeout (remove)": "#9b8f2e", "Tear": "#7f8fa6", "Wipe": "#674ea7", "dip": "#3d9970", "plug": "#b8860b"}, "cal": {"euler": [0.042, -0.0154, 0.0112], "t": [-0.0459, -0.0074, -0.0011], "s": 0.8817, "dt": 0.0048, "smoothW": 2, "W": 1600, "H": 1200}}</script>
 <script>
 const D = JSON.parse(document.getElementById('D').textContent);
 const EPS = D.eps, SKC = D.skc, CAL = D.cal;
@@ -236,8 +236,9 @@ function render(){
   const validRows = Object.entries(e.valids).map(([k,v])=>
     `<div class="ro"><span class="k">${k}</span><span class="v ${v<0.98?'':'hi'}">${(v*100).toFixed(1)}%</span></div>`).join('');
   const HF = 'https://huggingface.co/datasets/faradayfuture/egoSample';
-  const HFDIR = HF+'/tree/main/mego_'+e.slug;
-  const raw = f => HF+'/resolve/main/mego_'+e.slug+'/'+f;
+  const DSDIR = e.dataset_dir || 'mego_'+e.slug;
+  const HFDIR = HF+'/tree/main/'+DSDIR;
+  const raw = f => HF+'/resolve/main/'+DSDIR+'/'+f;
   const camDl = CAMS.map(c=>`<a class="fc dl" href="media/${e.slug}/${c}.mp4" download="${e.slug}_${c}.mp4">${c}.mp4</a>`).join('');
   const refChips = [
     'data/file-000.parquet',