Upload 10 files

all_substeps.json

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+{
+  "data": [
+    {
+      "dirname": "arrange_place_settings_on_the_table_in_fixed_positions_Table_100426_2026-01-07-01-40-44",
+      "substeps": [
+        "grasp the first lid of the table",
+        "open the first lid of the table",
+        "grasp the second lid of the table",
+        "open the second lid of the table",
+        "place the plate at its target location",
+        "place the fork at its target location",
+        "place the knife at its target location",
+        "place the glass at its target location"
+      ]
+    },
+    {
+      "dirname": "carry_the_chair_to_a_marked_position_and_set_it_down_Chair_100426_2026-01-07-01-50-24",
+      "substeps": [
+        "(Optional) close the first rotational lid of the chair for stable lifting",
+        "(Optional) close the second rotational lid of the chair for stable lifting",
+        "grasp the main body of the chair to pick it up",
+        "carry the chair to the marked position",
+        "release the grasp to set the chair down"
+      ]
+    },
+    {
+      "dirname": "clear_and_wipe_the_table_surface_Table_100426_2026-01-07-00-55-47",
+      "substeps": []
+    },
+    {
+      "dirname": "clear_the_table_by_moving_items_to_a_bin_Table_100426_2026-01-07-01-19-20",
+      "substeps": [
+        "open the first lid of the table",
+        "grasp the second lid of the table",
+        "open the second lid of the table",
+        "grasp the fork",
+        "move the fork to the bin",
+        "release the fork",
+        "grasp the toy block",
+        "move the toy block to the bin",
+        "release the toy block"
+      ]
+    },
+    {
+      "dirname": "close_the_laptop_pick_it_up_and_place_it_into_a_bag_Laptop_100426_2026-01-07-01-03-39",
+      "substeps": [
+        "close the first lid of the laptop",
+        "grasp the second lid of the laptop",
+        "close the second lid of the laptop",
+        "pick up the closed laptop",
+        "place the laptop into the bag"
+      ]
+    },
+    {
+      "dirname": "close_the_toilet_lid_and_flush_the_toilet_Toilet_100426_2026-01-07-01-36-07",
+      "substeps": [
+        "grasp the toilet lid",
+        "close the toilet lid and flush the toilet",
+        "grasp the toilet seat",
+        "close the toilet seat"
+      ]
+    },
+    {
+      "dirname": "collect_papers_from_the_table_stack_them_and_place_them_in_a_tray_Table_100426_2026-01-07-02-05-53",
+      "substeps": [
+        "grasp the first lid of the table",
+        "open the first lid of the table",
+        "grasp the second lid of the table",
+        "open the second lid of the table",
+        "grasp the stack of papers",
+        "move the papers into the tray",
+        "release the papers"
+      ]
+    },
+    {
+      "dirname": "cut_along_a_printed_line_and_place_the_cutout_in_a_tray_Scissors_100426_2026-01-07-00-58-57",
+      "substeps": [
+        "grasp the scissors handle",
+        "cut the paper along the line",
+        "release the scissors",
+        "grasp the resulting cutout",
+        "place the cutout into the tray"
+      ]
+    },
+    {
+      "dirname": "fill_the_kettle_with_water_and_place_it_on_its_base_Kettle_100426_2026-01-07-01-33-15",
+      "substeps": [
+        "grasp the first lid of the kettle",
+        "open the first lid of the kettle",
+        "grasp the second lid of the kettle",
+        "open the second lid of the kettle",
+        "grasp the kettle's main body",
+        "move the kettle under the faucet to fill it with water",
+        "move the kettle back to its original position",
+        "grasp the first lid of the kettle to close it",
+        "close the first lid of the kettle",
+        "grasp the second lid of the kettle to close it",
+        "close the second lid of the kettle",
+        "grasp the kettle's main body again",
+        "place the kettle onto its base"
+      ]
+    },
+    {
+      "dirname": "heat_a_container_in_the_microwave_for_a_set_time_Microwave_100426_2026-01-07-00-57-31",
+      "substeps": [
+        "grasp the container",
+        "move the container near the microwave opening",
+        "open the microwave door",
+        "open the microwave door",
+        "put the container inside the microwave",
+        "release the grasp of the container",
+        "close the microwave door",
+        "close the microwave door",
+        "set the microwave timer",
+        "set the microwave timer",
+        "grasp the container from inside the microwave",
+        "move the heated container out of the microwave and place it on the table"
+      ]
+    },
+    {
+      "dirname": "load_a_dish_into_the_dishwasher_and_start_a_cycle_Dishwasher_100426_2026-01-07-00-54-01",
+      "substeps": [
+        "grasp the first lid of the dishwasher",
+        "open the first lid of the dishwasher",
+        "grasp the second lid of the dishwasher",
+        "open the second lid of the dishwasher",
+        "grasp the dish",
+        "put the dish into the dishwasher",
+        "grasp the first lid of the dishwasher to close it",
+        "close the first lid of the dishwasher",
+        "grasp the second lid of the dishwasher to close it",
+        "close the second lid of the dishwasher"
+      ]
+    },
+    {
+      "dirname": "load_laundry_into_the_washing_machine_add_detergent_and_start_washing_WashingMachine_100426_2026-01-07-00-46-35",
+      "substeps": [
+        "grasp the main wash lid",
+        "open the main wash lid",
+        "grasp the laundry item",
+        "put the laundry item into the washing machine",
+        "release the laundry item",
+        "grasp the detergent dispenser lid",
+        "open the detergent dispenser lid",
+        "grasp the detergent bottle",
+        "add detergent",
+        "release the detergent bottle",
+        "grasp the detergent dispenser lid",
+        "close the detergent dispenser lid",
+        "grasp the main wash lid",
+        "close the main wash lid"
+      ]
+    },
+    {
+      "dirname": "move_objects_to_one_side_of_the_table_then_wipe_the_cleared_area_Table_100426_2026-01-07-01-51-37",
+      "substeps": [
+        "grasp the first lid of the table",
+        "open the first lid of the table",
+        "grasp the second lid of the table",
+        "open the second lid of the table",
+        "grasp the book",
+        "move the book to one side of the table",
+        "grasp the fork",
+        "move the fork to one side of the table",
+        "grasp the sponge",
+        "wipe the cleared area with the sponge",
+        "grasp the first lid of the table again",
+        "close the first lid of the table",
+        "grasp the second lid of the table again",
+        "close the second lid of the table"
+      ]
+    },
+    {
+      "dirname": "move_the_chair_from_the_table_to_the_wall_Chair_100426_2026-01-07-01-35-59",
+      "substeps": [
+        "grasp the chair",
+        "move the chair to the wall",
+        "release the chair"
+      ]
+    },
+    {
+      "dirname": "move_through_the_doorway_and_close_the_door_behind_Door_100426_2026-01-07-01-42-59",
+      "substeps": [
+        "grasp the door",
+        "open the door",
+        "move through the doorway",
+        "grasp the door again",
+        "close the door"
+      ]
+    },
+    {
+      "dirname": "organize_items_into_the_correct_compartments_and_close_the_storage_furniture_StorageFurniture_100426_2026-01-07-00-53-08",
+      "substeps": [
+        "grasp the first lid of the storage furniture",
+        "open the first lid of the storage furniture",
+        "grasp the item",
+        "put the item into the opened compartment",
+        "grasp the first lid of the storage furniture again",
+        "close the first lid"
+      ]
+    },
+    {
+      "dirname": "place_a_chair_next_to_another_chair_with_equal_spacing_Chair_100426_2026-01-07-01-54-17",
+      "substeps": [
+        "grasp the first lid of the foldable chair",
+        "unfold the first lid of the chair",
+        "release the first lid",
+        "grasp the second lid of the foldable chair",
+        "unfold the second lid of the chair",
+        "release the second lid",
+        "grasp the main body of the unfolded chair",
+        "place the chair next to the target chair"
+      ]
+    },
+    {
+      "dirname": "place_a_tray_in_the_oven_and_close_the_door_Oven_100426_2026-01-07-01-39-45",
+      "substeps": [
+        "grasp the oven door",
+        "open the oven door",
+        "grasp the tray",
+        "place the tray inside the oven",
+        "grasp the oven door again",
+        "close the oven door"
+      ]
+    },
+    {
+      "dirname": "pull_the_chair_out_and_align_it_with_the_table_Chair_100426_2026-01-07-01-19-53",
+      "substeps": [
+        "grasp the chair",
+        "pull the chair out and align it with the table"
+      ]
+    },
+    {
+      "dirname": "push_the_chair_under_the_table_and_center_it_Chair_100426_2026-01-07-01-30-57",
+      "substeps": [
+        "grasp the first folding part of the chair (link_0)",
+        "unfold the first part of the chair",
+        "grasp the second folding part of the chair (link_1)",
+        "unfold the second part of the chair",
+        "grasp the main body of the unfolded chair",
+        "push the chair under the table and center it"
+      ]
+    },
+    {
+      "dirname": "put_a_drink_into_the_refrigerator_and_close_the_door_Refrigerator_100426_2026-01-07-00-45-55",
+      "substeps": [
+        "grasp the refrigerator door",
+        "open the refrigerator door",
+        "grasp the drink",
+        "move the drink into the refrigerator",
+        "release the drink",
+        "grasp the refrigerator door again",
+        "close the refrigerator door"
+      ]
+    },
+    {
+      "dirname": "rotate_the_chair_to_face_the_table_and_slide_it_forward_Chair_100426_2026-01-07-01-41-07",
+      "substeps": []
+    },
+    {
+      "dirname": "set_a_cup_on_the_table_then_place_a_plate_beside_it_Table_100426_2026-01-07-01-59-34",
+      "substeps": [
+        "grasp the first lid of the table",
+        "close the first lid of the table",
+        "grasp the second lid of the table",
+        "close the second lid of the table",
+        "grasp the cup",
+        "put the cup on the table",
+        "grasp the plate",
+        "put the plate beside the cup"
+      ]
+    },
+    {
+      "dirname": "set_the_chair_at_the_dining_table_Chair_100426_2026-01-07-00-45-56",
+      "substeps": [
+        "grasp the first lid of the chair",
+        "open the first lid of the chair",
+        "grasp the second lid of the chair",
+        "open the second lid of the chair",
+        "grasp the body of the unfolded chair",
+        "move the chair to a position at the dining table"
+      ]
+    },
+    {
+      "dirname": "staple_a_small_stack_of_papers_and_return_the_stapler_Stapler_100426_2026-01-07-00-47-10",
+      "substeps": [
+        "grasp the body of the stapler",
+        "move the stapler over the papers and staple them",
+        "return the stapler to its original position",
+        "release the stapler"
+      ]
+    },
+    {
+      "dirname": "turn_on_the_fan_and_aim_it_toward_a_target_area_Fan_100426_2026-01-07-00-55-20",
+      "substeps": [
+        "grasp the fan's power knob",
+        "turn on the fan",
+        "release the power knob",
+        "grasp the fan head for aiming",
+        "aim the fan at the target plant",
+        "release the fan head"
+      ]
+    },
+    {
+      "dirname": "turn_on_the_lamp_and_reposition_it_on_a_table_Lamp_100426_2026-01-07-00-47-44",
+      "substeps": [
+        "grasp the first rotating part of the lamp",
+        "rotate the first part to turn on the lamp",
+        "grasp the second rotating part of the lamp",
+        "rotate the second part to turn on the lamp",
+        "grasp the main body of the lamp for repositioning",
+        "reposition the lamp to a desired location on the table"
+      ]
+    },
+    {
+      "dirname": "wipe_the_table_surface_using_a_cloth_and_return_the_cloth_Table_100426_2026-01-07-01-26-47",
+      "substeps": [
+        "grasp the first table leaf",
+        "open the first table leaf",
+        "grasp the second table leaf",
+        "open the second table leaf",
+        "grasp the cloth",
+        "wipe the table by moving the cloth to the first corner",
+        "wipe the table by moving the cloth to the second corner",
+        "wipe the table by moving the cloth to the third corner",
+        "wipe the table by moving the cloth to the fourth corner",
+        "return the cloth to its initial position",
+        "release the cloth"
+      ]
+    }
+  ]
+}

all_substeps_archive-2026-01-02.json

@@ -0,0 +1,368 @@
+{
+  "data": [
+    {
+      "dirname": "adjust_chair_height_Chair_100426_2026-01-03-01-51-48",
+      "substeps": [
+        "grasp the height adjustment lever",
+        "operate the lever to adjust the height"
+      ]
+    },
+    {
+      "dirname": "adjust_faucet_temperature_Faucet_100426_2026-01-03-01-45-45",
+      "substeps": []
+    },
+    {
+      "dirname": "angle_laptop_screen_Laptop_100426_2026-01-03-01-30-56",
+      "substeps": []
+    },
+    {
+      "dirname": "close_cabinet_door_StorageFurniture_100426_2026-01-03-01-31-04",
+      "substeps": [
+        "grasp the cabinet door",
+        "close the cabinet door",
+        "release grasp of the cabinet door"
+      ]
+    },
+    {
+      "dirname": "close_dishwasher_door_Dishwasher_100426_2026-01-03-01-39-07",
+      "substeps": [
+        "grasp the first part of the dishwasher door",
+        "close the first part of the dishwasher door",
+        "grasp the second part of the dishwasher door",
+        "close the second part of the dishwasher door"
+      ]
+    },
+    {
+      "dirname": "close_door_Door_100426_2026-01-03-01-22-41",
+      "substeps": [
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "close_freezer_door_Refrigerator_100426_2026-01-03-01-50-34",
+      "substeps": [
+        "grasp the freezer door",
+        "close the freezer door"
+      ]
+    },
+    {
+      "dirname": "close_laptop_lid_Laptop_100426_2026-01-03-01-22-41",
+      "substeps": []
+    },
+    {
+      "dirname": "close_microwave_door_Microwave_100426_2026-01-03-02-06-08",
+      "substeps": [
+        "grasp the microwave door",
+        "push the door closed"
+      ]
+    },
+    {
+      "dirname": "close_oven_door_Oven_100426_2026-01-03-02-06-01",
+      "substeps": [
+        "grasp the oven door",
+        "close the oven door"
+      ]
+    },
+    {
+      "dirname": "close_refrigerator_door_Refrigerator_100426_2026-01-03-01-45-45",
+      "substeps": []
+    },
+    {
+      "dirname": "close_safe_door_Safe_100426_2026-01-03-02-26-33",
+      "substeps": [
+        "grasp the lid of the safe",
+        "close the lid of the safe"
+      ]
+    },
+    {
+      "dirname": "close_toilet_lid_Toilet_100426_2026-01-03-01-29-47",
+      "substeps": [
+        "grasp the toilet lid",
+        "push the toilet lid down to close it"
+      ]
+    },
+    {
+      "dirname": "close_washing_machine_door_WashingMachine_100426_2026-01-03-01-53-53",
+      "substeps": [
+        "grasp the washing machine door",
+        "close the washing machine door",
+        "release the grasp on the door"
+      ]
+    },
+    {
+      "dirname": "close_window_Window_100426_2026-01-03-02-02-28",
+      "substeps": [
+        "grasp the first panel of the window",
+        "close the first panel of the window",
+        "grasp the second panel of the window",
+        "close the second panel of the window"
+      ]
+    },
+    {
+      "dirname": "flush_the_toilet_Toilet_100426_2026-01-03-01-34-53",
+      "substeps": [
+        "grasp the flush handle",
+        "press the flush handle",
+        "release the flush handle"
+      ]
+    },
+    {
+      "dirname": "fold_chair_Chair_100426_2026-01-03-01-45-19",
+      "substeps": [
+        "grasp the first hinged component of the chair",
+        "fold the first hinged component",
+        "grasp the second hinged component of the chair",
+        "fold the second hinged component"
+      ]
+    },
+    {
+      "dirname": "open_cabinet_door_StorageFurniture_100426_2026-01-03-01-28-26",
+      "substeps": [
+        "grasp the first cabinet door",
+        "open the first cabinet door"
+      ]
+    },
+    {
+      "dirname": "open_dishwasher_door_Dishwasher_100426_2026-01-03-01-34-59",
+      "substeps": [
+        "grasp the dishwasher door",
+        "open the dishwasher door"
+      ]
+    },
+    {
+      "dirname": "open_door_Door_100426_2026-01-03-01-15-38",
+      "substeps": [
+        "grasp the first lid of the door",
+        "open the first lid of the door"
+      ]
+    },
+    {
+      "dirname": "open_freezer_door_Refrigerator_100426_2026-01-03-01-48-07",
+      "substeps": []
+    },
+    {
+      "dirname": "open_laptop_lid_Laptop_100426_2026-01-03-02-24-46",
+      "substeps": [
+        "grasp the laptop lid",
+        "open the laptop lid"
+      ]
+    },
+    {
+      "dirname": "open_microwave_door_Microwave_100426_2026-01-03-01-56-46",
+      "substeps": [
+        "grasp the microwave handle",
+        "pull the handle to open the door"
+      ]
+    },
+    {
+      "dirname": "open_oven_door_Oven_100426_2026-01-03-02-00-18",
+      "substeps": [
+        "grasp the oven door",
+        "open the oven door"
+      ]
+    },
+    {
+      "dirname": "open_refrigerator_door_Refrigerator_100426_2026-01-03-01-43-18",
+      "substeps": []
+    },
+    {
+      "dirname": "open_safe_door_Safe_100426_2026-01-03-02-20-26",
+      "substeps": [
+        "grasp the first lid of the safe",
+        "open the first lid of the safe",
+        "grasp the second lid of the safe",
+        "open the second lid of the safe"
+      ]
+    },
+    {
+      "dirname": "open_toilet_lid_Toilet_100426_2026-01-03-01-27-49",
+      "substeps": []
+    },
+    {
+      "dirname": "open_washing_machine_door_WashingMachine_100426_2026-01-03-01-48-05",
+      "substeps": [
+        "grasp the washing machine door",
+        "open the washing machine door"
+      ]
+    },
+    {
+      "dirname": "open_window_Window_100426_2026-01-03-01-54-19",
+      "substeps": [
+        "grasp the first lid of the window",
+        "open the first lid of the window",
+        "grasp the second lid of the window",
+        "open the second lid of the window"
+      ]
+    },
+    {
+      "dirname": "open_window_halfway_Window_100426_2026-01-03-02-09-45",
+      "substeps": []
+    },
+    {
+      "dirname": "partially_close_window_Window_100426_2026-01-03-02-16-29",
+      "substeps": [
+        "grasp one of the window lids",
+        "partially close the lid",
+        "release the window lid"
+      ]
+    },
+    {
+      "dirname": "partially_open_door_Door_100426_2026-01-03-01-23-54",
+      "substeps": [
+        "grasp the first lid of the box",
+        "partially open the lid"
+      ]
+    },
+    {
+      "dirname": "press_dishwasher_start_button_Dishwasher_100426_2026-01-03-01-52-39",
+      "substeps": []
+    },
+    {
+      "dirname": "press_microwave_button_Microwave_100426_2026-01-03-01-27-32",
+      "substeps": [
+        "press the button on the microwave"
+      ]
+    },
+    {
+      "dirname": "press_washing_start_button_WashingMachine_100426_2026-01-03-02-05-36",
+      "substeps": []
+    },
+    {
+      "dirname": "pull_dishwasher_rack_out_Dishwasher_100426_2026-01-03-01-41-53",
+      "substeps": [
+        "grasp the dishwasher door",
+        "open the dishwasher door",
+        "grasp the dishwasher rack",
+        "pull the rack out"
+      ]
+    },
+    {
+      "dirname": "pull_door_open_Door_100426_2026-01-03-01-47-16",
+      "substeps": [
+        "grasp the door",
+        "pull the door open"
+      ]
+    },
+    {
+      "dirname": "pull_drawer_out_StorageFurniture_100426_2026-01-03-01-36-37",
+      "substeps": []
+    },
+    {
+      "dirname": "push_dishwasher_rack_in_Dishwasher_100426_2026-01-03-01-46-15",
+      "substeps": [
+        "grasp the first lid of the dishwasher",
+        "close the first lid of the dishwasher",
+        "grasp the second lid of the dishwasher",
+        "close the second lid of the dishwasher"
+      ]
+    },
+    {
+      "dirname": "push_door_closed_Door_100426_2026-01-03-01-39-43",
+      "substeps": [
+        "grasp the first lid of the door",
+        "push the first lid closed",
+        "grasp the second lid of the door",
+        "push the second lid closed"
+      ]
+    },
+    {
+      "dirname": "push_drawer_in_StorageFurniture_100426_2026-01-03-01-37-41",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_chair_Chair_100426_2026-01-03-02-01-17",
+      "substeps": [
+        "grasp the first rotating part of the chair",
+        "rotate the first part of the chair",
+        "grasp the second rotating part of the chair",
+        "rotate the second part of the chair"
+      ]
+    },
+    {
+      "dirname": "rotate_clock_hands_Clock_100426_2026-01-03-02-09-06",
+      "substeps": [
+        "grasp the first clock hand",
+        "rotate the first clock hand to a desired angle",
+        "grasp the second clock hand",
+        "rotate the second clock hand to a desired angle"
+      ]
+    },
+    {
+      "dirname": "rotate_laptop_screen_Laptop_100426_2026-01-03-01-37-26",
+      "substeps": [
+        "grasp the laptop screen lid",
+        "rotate the laptop screen to a target angle"
+      ]
+    },
+    {
+      "dirname": "set_clock_time_Clock_100426_2026-01-03-02-14-58",
+      "substeps": [
+        "grasp the first control (hour knob)",
+        "rotate the first control to the target position (hour)",
+        "grasp the second control (minute knob)",
+        "rotate the second control to the target position (minute)"
+      ]
+    },
+    {
+      "dirname": "turn_microwave_knob_Microwave_100426_2026-01-03-02-11-19",
+      "substeps": [
+        "grasp the microwave knob",
+        "turn the microwave knob"
+      ]
+    },
+    {
+      "dirname": "turn_off_faucet_Faucet_100426_2026-01-03-01-40-20",
+      "substeps": [
+        "grasp the first faucet handle",
+        "turn the first handle to the off position",
+        "grasp the second faucet handle",
+        "turn the second handle to the off position"
+      ]
+    },
+    {
+      "dirname": "turn_on_faucet_Faucet_100426_2026-01-03-01-37-52",
+      "substeps": []
+    },
+    {
+      "dirname": "turn_oven_function_knob_Oven_100426_2026-01-03-02-20-56",
+      "substeps": [
+        "grasp the function knob",
+        "turn the function knob to the 'bake' setting"
+      ]
+    },
+    {
+      "dirname": "turn_oven_temperature_knob_Oven_100426_2026-01-03-02-13-50",
+      "substeps": [
+        "grasp the temperature knob",
+        "turn the temperature knob to a desired setting",
+        "release the knob"
+      ]
+    },
+    {
+      "dirname": "turn_safe_knob_Safe_100426_2026-01-03-02-33-21",
+      "substeps": [
+        "grasp the safe knob",
+        "turn the knob"
+      ]
+    },
+    {
+      "dirname": "turn_washing_cycle_knob_WashingMachine_100426_2026-01-03-02-01-21",
+      "substeps": [
+        "grasp the washing cycle knob",
+        "turn the knob to the desired washing cycle"
+      ]
+    },
+    {
+      "dirname": "unfold_chair_Chair_100426_2026-01-03-01-49-35",
+      "substeps": [
+        "grasp the first foldable part of the chair",
+        "unfold the first part of the chair",
+        "grasp the second foldable part of the chair",
+        "unfold the second part of the chair"
+      ]
+    }
+  ]
+}

all_substeps_archive.json

@@ -0,0 +1,1757 @@
+{
+  "data": [
+    {
+      "dirname": "20251025_041944_Put_a_pen_into_the_box_Box_100426_2025-10-25-04-18-01",
+      "substeps": [
+        "grasp the lid of the box",
+        "open the lid of the box",
+        "grasp the pen",
+        "move the pen into the box",
+        "grasp the lid of the box again",
+        "close the lid of the box"
+      ]
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-01-37-06",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-01-37-43",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-01-38-46",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-01-40-13",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-01-41-09",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-09-11-49",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-09-18-45",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-09-19-52",
+      "substeps": [
+        "grasp the box body",
+        "align the box with the arrow"
+      ]
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-09-21-45",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-09-22-31",
+      "substeps": [
+        "grasp the box body",
+        "move and rotate the box to align it with the hallway arrow"
+      ]
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-10-09-13",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-10-10-09",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-10-11-02",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-10-12-00",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-10-12-40",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-14-22-13",
+      "substeps": []
+    },
+    {
+      "dirname": "Align_the_box_with_the_hallway_arrow_on_the_floor_Box_100426_2025-12-12-14-23-07",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-01-00-12",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-01-01-24",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-01-02-18",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-01-03-02",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-01-03-54",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-06-25-54",
+      "substeps": [
+        "grasp the box",
+        "carry and place the box on the rug"
+      ]
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-06-31-15",
+      "substeps": [
+        "grasp the box",
+        "lift the box off the ground",
+        "move the box to be on top of the rug",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-06-34-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-06-41-27",
+      "substeps": [
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box",
+        "grasp the main body of the box",
+        "move the box onto the rug"
+      ]
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-06-48-44",
+      "substeps": [
+        "grasp the box body",
+        "move the box onto the rug",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-09-31-14",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-09-32-07",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-09-33-01",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-09-33-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-09-35-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-13-56-12",
+      "substeps": [
+        "grasp the box",
+        "lift the box up from its current position",
+        "move the box to above the rug",
+        "lower the box onto the rug"
+      ]
+    },
+    {
+      "dirname": "Carry_the_box_onto_the_rug_near_the_doorway_Box_100426_2025-12-12-13-58-38",
+      "substeps": []
+    },
+    {
+      "dirname": "Drive_to_the_red_bin_and_pick_the_nearest_cube_Box_100426_2025-11-07-17-16-18",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the cube",
+        "retrieve the cube from the box"
+      ]
+    },
+    {
+      "dirname": "Drive_to_the_red_bin_and_pick_the_nearest_cube_Box_100426_2025-11-07-17-19-44",
+      "substeps": [
+        "grasp the lid of the red bin",
+        "open the lid of the red bin",
+        "grasp the nearest cube",
+        "lift the cube out of the red bin"
+      ]
+    },
+    {
+      "dirname": "Find_screwdriver;_tighten_three_loose_screws._Box_100426_2025-11-14-16-58-12",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the screwdriver",
+        "tighten the first screw",
+        "tighten the second screw",
+        "tighten the third screw",
+        "release the screwdriver",
+        "grasp the first lid of the box to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Find_screwdriver;_tighten_three_loose_screws._Box_100426_2025-11-14-17-01-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver;_tighten_three_loose_screws._Box_100426_2025-11-14-17-03-05",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver;_tighten_three_loose_screws._Box_100426_2025-11-14-17-05-49",
+      "substeps": [
+        "open the first lid of the box",
+        "tilt the first lid of the box to open it",
+        "grasp the screwdriver inside the box",
+        "place the screwdriver on the head of the first screw"
+      ]
+    },
+    {
+      "dirname": "Find_screwdriver;_tighten_three_loose_screws._Box_100426_2025-11-14-17-09-21",
+      "substeps": [
+        "grasp the first part of the lid",
+        "open the first part of the lid",
+        "grasp the second part of the lid",
+        "open the second part of the lid",
+        "grasp the screwdriver in the box",
+        "move the screwdriver to each screw (actions for moving the screwdriver to screw1, screw2, and screw3), and tighten them. given that actual screw tightening would involve complex torque control and might be challenging for vision, right now, it's enough to make sure that the screwdriver gets contact with the screw."
+      ]
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-13-32",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-15-58",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-17-57",
+      "substeps": [
+        "grasp the first box lid",
+        "open the first box lid",
+        "grasp the second box lid",
+        "open the second box lid",
+        "grasp the screwdriver",
+        "move the screwdriver to the first screw",
+        "move the screwdriver to the second screw",
+        "move the screwdriver to the third screw",
+        "release the screwdriver"
+      ]
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-21-07",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-24-41",
+      "substeps": []
+    },
+    {
+      "dirname": "Find_screwdriver_then_tighten_three_loose_screws_Box_100426_2025-11-14-17-27-32",
+      "substeps": [
+        "grasp the screwdriver",
+        "put the screwdriver on the table to free the gripper",
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the screwdriver",
+        "tighten the first screw",
+        "tighten the second screw",
+        "tighten the third screw",
+        "release the screwdriver",
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Leave_the_room_through_the_closed_door_Box_100426_2025-10-31-14-41-01",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa,_against_the_wall_Box_100426_2025-12-12-01-13-36",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa,_against_the_wall_Box_100426_2025-12-12-01-14-14",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa,_against_the_wall_Box_100426_2025-12-12-01-15-05",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa,_against_the_wall_Box_100426_2025-12-12-01-16-07",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa,_against_the_wall_Box_100426_2025-12-12-01-17-08",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-07-28-44",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-07-29-32",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-07-32-18",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-07-35-01",
+      "substeps": [
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box",
+        "grasp the body of the box",
+        "move the box to the target location against the wall",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-07-44-31",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-09-46-01",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-09-47-04",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-09-47-58",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-09-48-56",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-09-49-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-14-09-15",
+      "substeps": [
+        "grasp the box",
+        "move the box against the wall"
+      ]
+    },
+    {
+      "dirname": "Move_the_box_beside_the_sofa_against_the_wall_Box_100426_2025-12-12-14-11-29",
+      "substeps": [
+        "grasp the box",
+        "move the box to a new location against the wall."
+      ]
+    },
+    {
+      "dirname": "Open_box_lid_then_place_cube_inside_then_close_box_Box_100426_2025-11-21-16-47-40",
+      "substeps": []
+    },
+    {
+      "dirname": "Open_box_lid_then_place_cube_inside_then_close_box_Box_100426_2025-11-21-16-56-43",
+      "substeps": []
+    },
+    {
+      "dirname": "Open_box_lid_then_place_cube_inside_then_close_box_Box_100426_2025-11-21-16-58-25",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the cube",
+        "put the cube into the box",
+        "release the cube",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Open_box_lid_then_place_cube_inside_then_close_box_Box_100426_2025-11-21-17-02-19",
+      "substeps": [
+        "grasp the box lid",
+        "open the box lid",
+        "grasp the cube",
+        "put the cube into the box",
+        "close the box lid"
+      ]
+    },
+    {
+      "dirname": "Open_box_lid_then_place_cube_inside_then_close_box_Box_100426_2025-11-21-17-08-26",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the lid by actuating joint_0",
+        "grasp the cube",
+        "move the cube inside the box",
+        "release the cube",
+        "grasp the lid again",
+        "close the box"
+      ]
+    },
+    {
+      "dirname": "Pick_up_the_blue_cube._Box_100426_2025-11-14-06-02-21",
+      "substeps": []
+    },
+    {
+      "dirname": "Pick_up_the_blue_cube._Box_100426_2025-11-14-06-11-45",
+      "substeps": [
+        "grasp the blue cube"
+      ]
+    },
+    {
+      "dirname": "Pick_up_the_blue_cube._Box_100426_2025-11-14-06-17-59",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the blue cube",
+        "lift the blue cube out of the box"
+      ]
+    },
+    {
+      "dirname": "Pick_up_the_cup,_pour_liquid,_and_set_it_down_Box_100426_2025-11-21-17-26-51",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat,_centered_Box_100426_2025-12-12-01-08-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat,_centered_Box_100426_2025-12-12-01-09-55",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat,_centered_Box_100426_2025-12-12-01-11-02",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat,_centered_Box_100426_2025-12-12-01-11-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat,_centered_Box_100426_2025-12-12-01-12-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-07-09-37",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-07-11-20",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-07-15-48",
+      "substeps": [
+        "grasp the box body",
+        "move the box to be centered on the chair seat",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-07-24-06",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-07-26-38",
+      "substeps": [
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box",
+        "grasp the box body",
+        "place the box on the chair seat centered",
+        "release the grasp on the box"
+      ]
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-09-41-33",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-09-42-20",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-09-43-20",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-09-44-11",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-09-45-08",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-14-05-16",
+      "substeps": [
+        "grasp the box.",
+        "move the box to the chair's seat."
+      ]
+    },
+    {
+      "dirname": "Place_the_box_on_the_chair_seat_centered_Box_100426_2025-12-12-14-07-07",
+      "substeps": [
+        "grasp the box body for manipulation",
+        "lift the box to the level of seat",
+        "move the box towards the chair",
+        "lower the box onto the chair's seat",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Place_the_cube_on_the_blue_platform_Box_100426_2025-11-07-17-25-31",
+      "substeps": []
+    },
+    {
+      "dirname": "Place_the_cube_on_the_blue_platform_Box_100426_2025-11-07-17-28-39",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the cube",
+        "place the cube on the blue platform"
+      ]
+    },
+    {
+      "dirname": "Place_the_cube_on_the_blue_platform_Box_100426_2025-11-07-17-31-26",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the cube",
+        "move the cube to the target location"
+      ]
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-01-27-39",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-01-28-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-01-29-53",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-01-30-31",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-01-31-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-08-34-15",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-08-36-31",
+      "substeps": [
+        "grasp the main body of the box to pull it out.",
+        "pull the box out from under the bed.",
+        "grasp the first lid of the box.",
+        "open the first lid of the box.",
+        "grasp the second lid of the box.",
+        "open the second lid of the box."
+      ]
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-08-38-14",
+      "substeps": [
+        "grasp the box",
+        "pull the box out from under the bed"
+      ]
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-08-40-34",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-08-43-41",
+      "substeps": [
+        "grasp the main body of the box",
+        "pull the box out to an open space"
+      ]
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-10-00-35",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-10-01-29",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-10-02-17",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-10-03-16",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-10-04-15",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-14-18-45",
+      "substeps": []
+    },
+    {
+      "dirname": "Pull_the_box_out_from_under_the_bed_Box_100426_2025-12-12-14-19-25",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet,_past_the_threshold_Box_100426_2025-12-12-01-32-00",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet,_past_the_threshold_Box_100426_2025-12-12-01-32-54",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet,_past_the_threshold_Box_100426_2025-12-12-01-33-35",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet,_past_the_threshold_Box_100426_2025-12-12-01-34-49",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet,_past_the_threshold_Box_100426_2025-12-12-01-36-14",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-08-49-26",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-08-54-22",
+      "substeps": [
+        "attach the gripper to the box body",
+        "push the box into the closet"
+      ]
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-09-00-03",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-09-04-54",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-09-07-21",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "push the box into the closet"
+      ]
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-10-05-11",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-10-05-58",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-10-06-46",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-10-07-31",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-10-08-21",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-14-20-25",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_into_the_closet_past_the_threshold_Box_100426_2025-12-12-14-21-29",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-50-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-51-45",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-54-35",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-55-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-57-05",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-58-03",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-00-58-50",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-15-06",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-15-49",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-16-53",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-17-53",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-20-58",
+      "substeps": [
+        "move the end-effector to the side of the box to prepare for pushing",
+        "push the box until it is within the taped square"
+      ]
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-06-24-39",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-09-25-54",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-09-26-42",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-09-27-59",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-09-28-46",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-09-29-51",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-13-27-22",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-13-28-30",
+      "substeps": []
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-13-45-35",
+      "substeps": [
+        "move the robot end-effector above the box",
+        "generate force downwards to push the box"
+      ]
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-13-51-10",
+      "substeps": [
+        "grasp the box",
+        "push the box to the taped square"
+      ]
+    },
+    {
+      "dirname": "Push_the_box_to_the_taped_square_on_the_floor_Box_100426_2025-12-12-13-54-06",
+      "substeps": [
+        "grasp the box",
+        "push the box towards the taped square on the floor"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-04-37-36",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the pen",
+        "put the pen into the box",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-16-53-44",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-16-56-50",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-16-58-19",
+      "substeps": [
+        "grasp the lid of the box",
+        "open the lid of the box",
+        "grasp the pen",
+        "put the pen into the box",
+        "release the grasp on the pen after it is in the box",
+        "grasp the lid of the box again",
+        "close the lid of the box"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-17-42-44",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-18-12-21",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-18-15-10",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-18-17-44",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the pen",
+        "put the pen into the box",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-23-54-27",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-25-23-55-24",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-26-00-06-06",
+      "substeps": [
+        "grasp the box lid (link_0)",
+        "open the box lid",
+        "grasp the pen",
+        "put the pen into the box",
+        "grasp the box lid (link_0) again",
+        "close the box lid"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-26-00-13-55",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-26-00-15-36",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the pen",
+        "put the pen into the box",
+        "close the first lid of the box"
+      ]
+    },
+    {
+      "dirname": "Put_a_pen_into_the_box_Box_100426_2025-10-26-02-10-04",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the pen",
+        "put the pen into the box",
+        "grasp the first lid to close it",
+        "close the first lid of the box",
+        "grasp the second lid to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-08-06-38",
+      "substeps": [
+        "grasp the body of the box",
+        "put the box on the lowest level of the shelf"
+      ]
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-08-13-14",
+      "substeps": [
+        "grasp the body of the box",
+        "move the box to the lowest level of the shelf",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-08-17-52",
+      "substeps": [
+        "grasp the first lid of the box",
+        "close the first lid of the box",
+        "grasp the second lid of the box",
+        "close the second lid of the box",
+        "grasp the box body",
+        "move the box to the shelf's lowest level and place it"
+      ]
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-08-25-22",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-08-27-59",
+      "substeps": [
+        "close the first lid of the box",
+        "close the second lid of the box",
+        "grasp the main body of the box",
+        "place the box on the lowest level of the shelf"
+      ]
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-09-55-34",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-09-56-29",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-09-57-40",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-09-58-38",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-09-59-39",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-14-16-45",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelfs_lowest_level_Box_100426_2025-12-12-14-17-38",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelf’s_lowest_level_Box_100426_2025-12-12-01-22-22",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelf’s_lowest_level_Box_100426_2025-12-12-01-23-27",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelf’s_lowest_level_Box_100426_2025-12-12-01-24-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelf’s_lowest_level_Box_100426_2025-12-12-01-25-23",
+      "substeps": []
+    },
+    {
+      "dirname": "Put_the_box_on_the_shelf’s_lowest_level_Box_100426_2025-12-12-01-26-20",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window,_then_stop_Box_100426_2025-12-12-01-18-06",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window,_then_stop_Box_100426_2025-12-12-01-18-40",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window,_then_stop_Box_100426_2025-12-12-01-19-26",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window,_then_stop_Box_100426_2025-12-12-01-20-08",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window,_then_stop_Box_100426_2025-12-12-01-21-14",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-07-47-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-07-54-19",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-07-56-36",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-07-58-58",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-08-04-32",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-09-50-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-09-52-00",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-09-52-56",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-09-53-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-09-54-46",
+      "substeps": []
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-14-13-00",
+      "substeps": [
+        "grasp the box body",
+        "rotate the box to face the window",
+        "stop rotating the box (release the box)"
+      ]
+    },
+    {
+      "dirname": "Rotate_the_box_to_face_the_window_then_stop_Box_100426_2025-12-12-14-14-55",
+      "substeps": [
+        "grasp the box",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-01-04-35",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-01-05-34",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-01-06-14",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-01-07-15",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-01-08-09",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-06-56-30",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-06-58-57",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-07-01-13",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-07-04-17",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-07-07-28",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-09-36-48",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-09-37-36",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-09-38-25",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-09-39-40",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-09-40-44",
+      "substeps": []
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-14-01-16",
+      "substeps": [
+        "grasp the box_body",
+        "move the box under the table",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "Slide_the_box_under_the_table_without_tipping_it_Box_100426_2025-12-12-14-03-13",
+      "substeps": [
+        "grasp the box",
+        "slide the box under the table"
+      ]
+    },
+    {
+      "dirname": "Stack_two_green_blocks_on_the_yellow_pallet_Box_100426_2025-11-07-17-46-17",
+      "substeps": [
+        "grasp the first green block",
+        "move the first green block over the pallet",
+        "release the first green block",
+        "grasp the second green block",
+        "move the second green block over the pallet, and the first block",
+        "release the second green block",
+        "move the arm away from the block"
+      ]
+    },
+    {
+      "dirname": "Stack_two_green_blocks_on_the_yellow_pallet_Box_100426_2025-11-07-17-51-13",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the first green block",
+        "place the first green block on the yellow pallet",
+        "grasp the second green block",
+        "place the second green block on top of the first green block"
+      ]
+    },
+    {
+      "dirname": "Turn_on_the_coffee_machine_Box_100426_2025-10-31-14-18-31",
+      "substeps": []
+    },
+    {
+      "dirname": "Turn_on_the_coffee_machine_Box_100426_2025-10-31-14-21-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Turn_on_the_coffee_machine_Box_100426_2025-10-31-14-23-47",
+      "substeps": []
+    },
+    {
+      "dirname": "Turn_on_the_coffee_machine_Box_100426_2025-10-31-14-25-49",
+      "substeps": [
+        "grasp the first lid of the coffee machine",
+        "open the first lid of the coffee machine",
+        "grasp the second lid of the coffee machine",
+        "open the second lid of the coffee machine",
+        "turn on the coffee machine by pressing the power button"
+      ]
+    },
+    {
+      "dirname": "Turn_on_the_coffee_machine_Box_100426_2025-10-31-14-28-04",
+      "substeps": [
+        "approach the coffee machine's lid (link_0)",
+        "open the lid of the coffee machine",
+        "approach the control mechanism (link_1)",
+        "actuate the control mechanism (start the brewing process)"
+      ]
+    },
+    {
+      "dirname": "Turn_on_the_lamp_Box_100426_2025-10-31-14-42-53",
+      "substeps": []
+    },
+    {
+      "dirname": "Turn_on_the_lamp_Box_100426_2025-10-31-14-45-12",
+      "substeps": [
+        "grasp the lid of the box",
+        "turn on the lamp by rotating the lid"
+      ]
+    },
+    {
+      "dirname": "Turn_on_the_lamp_Box_100426_2025-10-31-14-46-51",
+      "substeps": []
+    },
+    {
+      "dirname": "Turn_on_the_lamp_Box_100426_2025-10-31-14-49-41",
+      "substeps": [
+        "grasp the \"rotation_lid\" of the lamp",
+        "rotate the \"rotation_lid\" to turn on the lamp"
+      ]
+    },
+    {
+      "dirname": "pick_up_the_cup_then_pour_the_liquid_then_set_it_down_Box_100426_2025-11-21-17-29-16",
+      "substeps": []
+    },
+    {
+      "dirname": "pick_up_the_cup_then_pour_the_liquid_then_set_it_down_Box_100426_2025-11-21-17-32-56",
+      "substeps": []
+    },
+    {
+      "dirname": "pour_liquid_task_Box_100426_2025-11-21-17-34-56",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the box to tilt it",
+        "tilt the box to pour the liquid into the container",
+        "place the box back on the table upright",
+        "close the first lid of the box",
+        "close the second lid of the box",
+        "close the second lid of the box",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "pour_liquid_task_Box_100426_2025-11-21-17-38-02",
+      "substeps": [
+        "grasp the lid of the box",
+        "open the lid of the box",
+        "grasp the jug with liquid",
+        "tilt the jug to pour the liquid into the box",
+        "grasp the lid of the box again",
+        "close the lid of the box"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-10-26",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-12-44",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-15-15",
+      "substeps": [
+        "grasp the first fridge door (link_0)",
+        "open the first fridge door",
+        "grasp the second fridge door (link_1)",
+        "open the second fridge door",
+        "grasp the bottle",
+        "put the bottle into the fridge",
+        "release the grasp on the bottle",
+        "grasp the first fridge door (link_0) again",
+        "close the first fridge door",
+        "grasp the second fridge door (link_1) again",
+        "close the second fridge door"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-19-53",
+      "substeps": [
+        "grasp the bottle.",
+        "grasp the fridge door.",
+        "open the fridge door.",
+        "move the bottle into the fridge.",
+        "release the bottle, ensuring it stays inside the fridge.",
+        "close the fridge door."
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-24-05",
+      "substeps": [
+        "grasp the fridge door",
+        "open the fridge door",
+        "grasp the bottle",
+        "put the bottle inside the fridge",
+        "release grasp of the bottle",
+        "grasp the fridge door again",
+        "close the fridge door"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-26-23",
+      "substeps": [
+        "grasp the refrigerator door",
+        "open the refrigerator door",
+        "grasp the bottle",
+        "place the bottle in the refrigerator",
+        "release the bottle",
+        "grasp the refrigerator door again",
+        "close the refrigerator door"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-39-04",
+      "substeps": [
+        "grasp the fridge door",
+        "open the fridge door",
+        "grasp the bottle",
+        "put the bottle into the fridge",
+        "release the grasp",
+        "grasp the fridge door",
+        "close the fridge door"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-11-26-05-43-51",
+      "substeps": [
+        "grasp the first lid of the fridge",
+        "open the first lid of the fridge",
+        "grasp the second lid of the fridge",
+        "open the second lid of the fridge",
+        "grasp the bottle",
+        "put the bottle into the fridge",
+        "grasp the first lid of the fridge to close it",
+        "close the first lid of the fridge",
+        "grasp the second lid of the fridge to close it",
+        "close the second lid of the fridge"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-42-14",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-44-17",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-45-18",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-48-38",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-50-22",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-51-13",
+      "substeps": [
+        "grasp the bottle",
+        "move the bottle near the fridge",
+        "grasp the fridge door",
+        "open the fridge door",
+        "grasp the bottle again",
+        "put the bottle inside the fridge",
+        "grasp the fridge door again",
+        "close the fridge door"
+      ]
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-01-58-44",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-05-16-03",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-05-20-36",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-05-39-53",
+      "substeps": []
+    },
+    {
+      "dirname": "put_bottle_in_fridge_Box_100426_2025-12-12-05-57-42",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the bottle",
+        "put the bottle into the box",
+        "grasp the first lid of the box to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "put_the_box_in_the_middle_of_the_table_Box_100426_2025-10-25-17-03-56",
+      "substeps": [
+        "grasp the lid of the box",
+        "open the lid of the box",
+        "grasp the box body",
+        "lift the box up and place it in the middle of the table",
+        "grasp the box lid again",
+        "close the box lid"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-54-04",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-54-11",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-54-16",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-56-36",
+      "substeps": [
+        "grasp the box",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-56-43",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-59-08",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-18-59-14",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-02-56",
+      "substeps": [
+        "grasp the body of the box to manipulate it",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-05-15",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-11-25",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-21-58",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-22-02",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-22-13",
+      "substeps": []
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-29-55",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box to face the window",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-29-58",
+      "substeps": [
+        "grasp the main body of the box",
+        "lift the box up slightly",
+        "rotate the box to face the window",
+        "place the box back on its original spot",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-30-24",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box in-hand to face the window",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-32-15",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box to face the window",
+        "release the box"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-32-32",
+      "substeps": [
+        "grasp the box body",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-43-00",
+      "substeps": [
+        "grasp the main body of the box",
+        "rotate the box to face the window",
+        "release the grasp on the box"
+      ]
+    },
+    {
+      "dirname": "rotate_the_box_to_face_the_window_Box_100426_2025-12-20-19-43-13",
+      "substeps": [
+        "grasp the box body",
+        "rotate the box to face the window"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-10-21",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the toy block",
+        "put the toy block into the box",
+        "release the grasp on the object",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-13-25",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the object to be stored",
+        "put the object into the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-17-54",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the object",
+        "put the object into the box",
+        "grasp the first lid of the box to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-25-03",
+      "substeps": [
+        "grasp the ball",
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "put the ball into the box",
+        "release grasp on the ball",
+        "grasp the first lid of the box to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-32-34",
+      "substeps": []
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-17-43-08",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the object to be stored",
+        "put the object inside the box",
+        "release the object",
+        "grasp the first lid to close it",
+        "close the first lid of the box",
+        "grasp the second lid to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-18-56-41",
+      "substeps": []
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-18-59-08",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the toy block",
+        "put the toy block into the box",
+        "grasp the first lid of the box again to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box again to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-19-04-55",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the object",
+        "put the object into the box",
+        "grasp the first lid of the box again to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box again to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-20-05-33",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the toy block",
+        "put the toy block into the box",
+        "close the first lid of the box",
+        "actuate the first lid to close it",
+        "close the second lid of the box",
+        "actuate the second lid to close it"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-20-05-40",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the toy block",
+        "put the toy block into the box",
+        "grasp the first lid to close it",
+        "close the first lid of the box",
+        "grasp the second lid to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-20-05-56",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the item",
+        "put the item inside the box",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-20-05-57",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the item",
+        "put the item into the box",
+        "grasp the first lid of the box again to close it",
+        "close the first lid of the box",
+        "grasp the second lid of the box again to close it",
+        "close the second lid of the box"
+      ]
+    },
+    {
+      "dirname": "store_an_object_inside_the_box_Box_100426_2025-12-20-20-06-28",
+      "substeps": [
+        "grasp the first lid of the box",
+        "open the first lid of the box",
+        "grasp the second lid of the box",
+        "open the second lid of the box",
+        "grasp the object",
+        "put the object into the box",
+        "grasp the first lid of the box again",
+        "close the first lid of the box",
+        "grasp the second lid of the box again",
+        "close the second lid of the box"
+      ]
+    }
+  ]
+}