{
  "episode": 58,
  "source_episode": 8,
  "split": "train",
  "frame_count": 252,
  "object_arm": "right",
  "drawer_arm": "left",
  "relative_delay_target": "next_active",
  "rewritten_relative_delay": {
    "delayed_arm": "right",
    "start": 0,
    "end": 86,
    "physical_semantic_key": "wait",
    "supervision_semantic_key": "reach_grasp_object"
  },
  "segments": [
    {
      "start": 0,
      "end": 114,
      "stage_id": 19,
      "stage_key": "left_reach_open_drawer__right_reach_grasp_object",
      "arm_semantic_keys": {
        "left": "reach_open_drawer",
        "right": "reach_grasp_object"
      },
      "subtask_text": "Left arm: reach and open drawer; Right arm: reach and grasp object."
    },
    {
      "start": 114,
      "end": 155,
      "stage_id": 31,
      "stage_key": "left_wait_hold_drawer_open__right_reach_grasp_object",
      "arm_semantic_keys": {
        "left": "wait_hold_drawer_open",
        "right": "reach_grasp_object"
      },
      "subtask_text": "Left arm: wait while holding drawer open; Right arm: reach and grasp object."
    },
    {
      "start": 155,
      "end": 252,
      "stage_id": 34,
      "stage_key": "left_wait_hold_drawer_open__right_insert_place_object",
      "arm_semantic_keys": {
        "left": "wait_hold_drawer_open",
        "right": "insert_place_object"
      },
      "subtask_text": "Left arm: wait while holding drawer open; Right arm: insert and place object."
    }
  ]
}