{
  "episode": {
    "domain": [
      "domestic",
      "retail",
      "industrial",
      "restaurant",
      "office"
    ],
    "episode_description": "free text",
    "episode_success": [
      "success",
      "failure",
      "partial"
    ]
  },
  "segments": {
    "step_description": "free text, per segment",
    "motor_skill": [
      "grasp",
      "release",
      "reach",
      "retract",
      "lift",
      "place",
      "carry",
      "insert",
      "extract",
      "push",
      "pull",
      "rotate",
      "open",
      "close",
      "pour",
      "wipe",
      "handover",
      "idle",
      "reposition",
      "other"
    ],
    "failure": [
      "failure",
      "partial"
    ],
    "failure_mode": "free text"
  }
}