{
  "version": 1,
  "evidence_basis": "User attestation plus recorded visual mapping; not independent recovery of capture logs.",
  "tasks": [
    {
      "task_index": 0,
      "objects": {
        "holder": {
          "description": "The pen holder"
        },
        "pen_purple": {
          "color": "purple",
          "description": "Purple broad marker"
        },
        "pen_blue": {
          "color": "blue",
          "description": "Pale blue broad marker"
        },
        "pen_white": {
          "color": "white",
          "description": "Slim white pen"
        },
        "pen_black": {
          "color": "black",
          "description": "Black pen with gold-colored details"
        }
      },
      "semantics": {
        "hold_holder": {
          "object_id": "holder",
          "action": "hold",
          "description": "Hold the empty pen holder."
        },
        "insert_purple": {
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "description": "Insert the purple pen into the pen holder."
        },
        "insert_blue": {
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "description": "Insert the blue pen into the pen holder."
        },
        "insert_white": {
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "description": "Insert the white pen into the pen holder."
        },
        "insert_black": {
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "description": "Insert the black pen into the pen holder."
        },
        "place_holder": {
          "object_id": "holder",
          "action": "place_on_table",
          "description": "Place the filled pen holder upright on the table."
        }
      }
    },
    {
      "task_index": 1,
      "objects": {
        "mug_yellow": {
          "color": "yellow",
          "description": "Yellow mug"
        },
        "mug_white": {
          "color": "white",
          "description": "White mug with red handle/decoration"
        },
        "mug_purple": {
          "color": "purple",
          "description": "Pale purple mug"
        },
        "rack": {
          "description": "Mug rack"
        },
        "hook_policy": {
          "description": "Any available legal hook under user-confirmed task semantics; individual physical hooks are not conflated or assigned invented IDs."
        }
      },
      "semantics": {
        "hang_yellow": {
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "description": "Hang the yellow mug on an available hook of the mug rack."
        },
        "hang_white": {
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "description": "Hang the white mug on an available hook of the mug rack."
        },
        "hang_purple": {
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "description": "Hang the purple mug on an available hook of the mug rack."
        }
      }
    }
  ],
  "episodes": [
    {
      "episode_index": 0,
      "task_index": 0,
      "role": "normal",
      "solution_index": 0,
      "semantic_sequence": [
        "hold_holder",
        "insert_purple",
        "insert_blue",
        "insert_white",
        "insert_black",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 17,
          "end_frame_exclusive": 88,
          "arm_roles": {
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 88,
          "end_frame_exclusive": 221,
          "arm_roles": {
            "right": "insert_purple",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 221,
          "end_frame_exclusive": 362,
          "arm_roles": {
            "right": "insert_blue",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 362,
          "end_frame_exclusive": 541,
          "arm_roles": {
            "right": "insert_white",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 541,
          "end_frame_exclusive": 752,
          "arm_roles": {
            "right": "insert_black",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 752,
          "end_frame_exclusive": 808,
          "arm_roles": {
            "left": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 1,
      "task_index": 0,
      "role": "normal",
      "solution_index": 0,
      "semantic_sequence": [
        "hold_holder",
        "insert_purple",
        "insert_blue",
        "insert_white",
        "insert_black",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 16,
          "end_frame_exclusive": 64,
          "arm_roles": {
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 64,
          "end_frame_exclusive": 191,
          "arm_roles": {
            "right": "insert_purple",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 191,
          "end_frame_exclusive": 333,
          "arm_roles": {
            "right": "insert_blue",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 333,
          "end_frame_exclusive": 500,
          "arm_roles": {
            "right": "insert_white",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 500,
          "end_frame_exclusive": 668,
          "arm_roles": {
            "right": "insert_black",
            "left": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 668,
          "end_frame_exclusive": 715,
          "arm_roles": {
            "left": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 2,
      "task_index": 0,
      "role": "diverse",
      "solution_index": 1,
      "semantic_sequence": [
        "hold_holder",
        "insert_blue",
        "insert_white",
        "insert_black",
        "insert_purple",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 0,
          "end_frame_exclusive": 47,
          "arm_roles": {
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 47,
          "end_frame_exclusive": 158,
          "arm_roles": {
            "left": "insert_blue",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 158,
          "end_frame_exclusive": 240,
          "arm_roles": {
            "left": "insert_white",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 240,
          "end_frame_exclusive": 327,
          "arm_roles": {
            "left": "insert_black",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 327,
          "end_frame_exclusive": 444,
          "arm_roles": {
            "left": "insert_purple",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 444,
          "end_frame_exclusive": 482,
          "arm_roles": {
            "right": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 3,
      "task_index": 0,
      "role": "diverse",
      "solution_index": 2,
      "semantic_sequence": [
        "hold_holder",
        "insert_blue",
        "insert_purple",
        "insert_black",
        "insert_white",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 0,
          "end_frame_exclusive": 55,
          "arm_roles": {
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 55,
          "end_frame_exclusive": 147,
          "arm_roles": {
            "left": "insert_blue",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 147,
          "end_frame_exclusive": 278,
          "arm_roles": {
            "left": "insert_purple",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 278,
          "end_frame_exclusive": 391,
          "arm_roles": {
            "left": "insert_black",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 391,
          "end_frame_exclusive": 541,
          "arm_roles": {
            "left": "insert_white",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 541,
          "end_frame_exclusive": 587,
          "arm_roles": {
            "right": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 4,
      "task_index": 0,
      "role": "diverse",
      "solution_index": 2,
      "semantic_sequence": [
        "hold_holder",
        "insert_blue",
        "insert_purple",
        "insert_black",
        "insert_white",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 0,
          "end_frame_exclusive": 62,
          "arm_roles": {
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 62,
          "end_frame_exclusive": 142,
          "arm_roles": {
            "left": "insert_blue",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 142,
          "end_frame_exclusive": 215,
          "arm_roles": {
            "left": "insert_purple",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 215,
          "end_frame_exclusive": 276,
          "arm_roles": {
            "left": "insert_black",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 276,
          "end_frame_exclusive": 391,
          "arm_roles": {
            "left": "insert_white",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 391,
          "end_frame_exclusive": 425,
          "arm_roles": {
            "right": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 5,
      "task_index": 0,
      "role": "diverse",
      "solution_index": 1,
      "semantic_sequence": [
        "hold_holder",
        "insert_blue",
        "insert_white",
        "insert_black",
        "insert_purple",
        "place_holder"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hold_holder",
          "object_id": "holder",
          "action": "hold",
          "start_frame": 0,
          "end_frame_exclusive": 57,
          "arm_roles": {
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "insert_blue",
          "object_id": "pen_blue",
          "action": "insert_into_holder",
          "start_frame": 57,
          "end_frame_exclusive": 120,
          "arm_roles": {
            "left": "insert_blue",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "insert_white",
          "object_id": "pen_white",
          "action": "insert_into_holder",
          "start_frame": 120,
          "end_frame_exclusive": 203,
          "arm_roles": {
            "left": "insert_white",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "004",
          "semantic_id": "insert_black",
          "object_id": "pen_black",
          "action": "insert_into_holder",
          "start_frame": 203,
          "end_frame_exclusive": 284,
          "arm_roles": {
            "left": "insert_black",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "005",
          "semantic_id": "insert_purple",
          "object_id": "pen_purple",
          "action": "insert_into_holder",
          "start_frame": 284,
          "end_frame_exclusive": 439,
          "arm_roles": {
            "left": "insert_purple",
            "right": "hold_holder"
          }
        },
        {
          "original_subtask_id": "006",
          "semantic_id": "place_holder",
          "object_id": "holder",
          "action": "place_on_table",
          "start_frame": 439,
          "end_frame_exclusive": 463,
          "arm_roles": {
            "right": "place_holder"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 12,
      "task_index": 1,
      "role": "normal",
      "solution_index": 0,
      "semantic_sequence": [
        "hang_yellow",
        "hang_white",
        "hang_purple"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 10,
          "end_frame_exclusive": 176,
          "arm_roles": {
            "left": "hang_yellow"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 176,
          "end_frame_exclusive": 345,
          "arm_roles": {
            "right": "hang_white"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 345,
          "end_frame_exclusive": 549,
          "arm_roles": {
            "right": "hang_purple"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 13,
      "task_index": 1,
      "role": "normal",
      "solution_index": 0,
      "semantic_sequence": [
        "hang_yellow",
        "hang_white",
        "hang_purple"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 12,
          "end_frame_exclusive": 131,
          "arm_roles": {
            "left": "hang_yellow"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 131,
          "end_frame_exclusive": 281,
          "arm_roles": {
            "right": "hang_white"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 281,
          "end_frame_exclusive": 470,
          "arm_roles": {
            "right": "hang_purple"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 14,
      "task_index": 1,
      "role": "diverse",
      "solution_index": 1,
      "semantic_sequence": [
        "hang_white",
        "hang_purple",
        "hang_yellow"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 5,
          "end_frame_exclusive": 177,
          "arm_roles": {
            "right": "hang_white"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 177,
          "end_frame_exclusive": 441,
          "arm_roles": {
            "right": "hang_purple"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 441,
          "end_frame_exclusive": 624,
          "arm_roles": {
            "left": "hang_yellow"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 15,
      "task_index": 1,
      "role": "diverse",
      "solution_index": 2,
      "semantic_sequence": [
        "hang_purple",
        "hang_yellow",
        "hang_white"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 8,
          "end_frame_exclusive": 205,
          "arm_roles": {
            "right": "hang_purple"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 205,
          "end_frame_exclusive": 380,
          "arm_roles": {
            "left": "hang_yellow"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 380,
          "end_frame_exclusive": 566,
          "arm_roles": {
            "right": "hang_white"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 16,
      "task_index": 1,
      "role": "diverse",
      "solution_index": 1,
      "semantic_sequence": [
        "hang_white",
        "hang_purple",
        "hang_yellow"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 12,
          "end_frame_exclusive": 132,
          "arm_roles": {
            "right": "hang_white"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 132,
          "end_frame_exclusive": 330,
          "arm_roles": {
            "right": "hang_purple"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 330,
          "end_frame_exclusive": 492,
          "arm_roles": {
            "left": "hang_yellow"
          }
        }
      ],
      "evidence": "user_attestation"
    },
    {
      "episode_index": 17,
      "task_index": 1,
      "role": "diverse",
      "solution_index": 2,
      "semantic_sequence": [
        "hang_purple",
        "hang_yellow",
        "hang_white"
      ],
      "segments": [
        {
          "original_subtask_id": "001",
          "semantic_id": "hang_purple",
          "object_id": "mug_purple",
          "action": "hang_on_available_hook",
          "start_frame": 8,
          "end_frame_exclusive": 173,
          "arm_roles": {
            "right": "hang_purple"
          }
        },
        {
          "original_subtask_id": "002",
          "semantic_id": "hang_yellow",
          "object_id": "mug_yellow",
          "action": "hang_on_available_hook",
          "start_frame": 173,
          "end_frame_exclusive": 376,
          "arm_roles": {
            "left": "hang_yellow"
          }
        },
        {
          "original_subtask_id": "003",
          "semantic_id": "hang_white",
          "object_id": "mug_white",
          "action": "hang_on_available_hook",
          "start_frame": 376,
          "end_frame_exclusive": 528,
          "arm_roles": {
            "right": "hang_white"
          }
        }
      ],
      "evidence": "user_attestation"
    }
  ],
  "arm_policy": "Preserve per-episode arm roles. Different order groups may use different arms; no arm mirroring or action swapping.",
  "loader_policy": "Only CSVC uses this semantic overlay; original annotations and regular metric taxonomy remain unchanged."
}