{
  "episode": 26,
  "source_episode": 26,
  "split": "train",
  "frame_count": 216,
  "object_arm": "left",
  "drawer_arm": "right",
  "relative_delay_target": "physical",
  "rewritten_relative_delay": null,
  "segments": [
    {
      "start": 0,
      "end": 69,
      "stage_id": 9,
      "stage_key": "left_reach_grasp_object__right_reach_open_drawer",
      "arm_semantic_keys": {
        "left": "reach_grasp_object",
        "right": "reach_open_drawer"
      },
      "subtask_text": "Left arm: reach and grasp object; Right arm: reach and open drawer."
    },
    {
      "start": 69,
      "end": 111,
      "stage_id": 15,
      "stage_key": "left_wait_hold_object__right_reach_open_drawer",
      "arm_semantic_keys": {
        "left": "wait_hold_object",
        "right": "reach_open_drawer"
      },
      "subtask_text": "Left arm: wait while holding object; Right arm: reach and open drawer."
    },
    {
      "start": 111,
      "end": 115,
      "stage_id": 17,
      "stage_key": "left_wait_hold_object__right_wait_hold_drawer_open",
      "arm_semantic_keys": {
        "left": "wait_hold_object",
        "right": "wait_hold_drawer_open"
      },
      "subtask_text": "Left arm: wait while holding object; Right arm: wait while holding drawer open."
    },
    {
      "start": 115,
      "end": 216,
      "stage_id": 29,
      "stage_key": "left_insert_place_object__right_wait_hold_drawer_open",
      "arm_semantic_keys": {
        "left": "insert_place_object",
        "right": "wait_hold_drawer_open"
      },
      "subtask_text": "Left arm: insert and place object; Right arm: wait while holding drawer open."
    }
  ]
}