```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "0-19"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "40-59"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "60-79"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "80-99"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "100-119"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "120-139"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "140-159"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "160-179"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "180-199"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "200-219"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "220-239"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "240-259"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "260-279"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "280-299"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "800-819"
}
```

kettle
dripper
scale
coffee filter
table


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "820-839"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "gooseneck kettle",
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "880-899"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "gooseneck kettle",
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "900-919"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "920-939"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "940-959"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1000-1019"
}
```

Prepare coffee equipment and scoop grounds

glass carafe
coffee scale
coffee dripper
white mug
bottle


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1020-1039"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1060-1079"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1080-1099"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1100-1119"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1120-1139"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1140-1159"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": ["gooseneck kettle"],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1240-1259"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "gooseneck kettle",
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1260-1279"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1280-1299"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1300-1319"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1340-1359"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1360-1379"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1380-1399"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1560-1579"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1580-1599"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1600-1619"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1620-1639"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1640-1659"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1660-1679"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "1680-1699"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "1700-1719"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2000-2019"
}
```

gooseneck kettle
coffee dripper
digital scale
water bottle
coffee mug


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2020-2039"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2040-2059"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2060-2079"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2080-2099"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2100-2119"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "unknown"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2120-2139"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2140-2159"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2800-2819"
}
```

gooseneck kettle
coffee dripper
scale
water bottle
white cup


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2820-2839"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2840-2859"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2860-2879"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2880-2899"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "2900-2919"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "2920-2939"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2940-2959"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "2980-2999"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3000-3019"
}
```

gooseneck kettle
coffee dripper
digital scale
white mug


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3020-3039"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3040-3059"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3060-3079"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3400-3419"
}
```

Set down kettle and retrieve white bottle

gooseneck kettle
coffee dripper
scale
white bottle


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3420-3439"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3440-3459"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3460-3479"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3480-3499"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3500-3519"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3520-3539"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3540-3559"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3560-3579"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3580-3599"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3620-3639"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3640-3659"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3660-3679"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3680-3699"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3700-3719"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3720-3739"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3740-3759"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3760-3779"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3780-3799"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3800-3819"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3820-3839"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3840-3859"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3860-3879"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3880-3899"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3900-3919"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3940-3959"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": ["gooseneck kettle"],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "3960-3979"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "gooseneck kettle",
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "3980-3999"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": ["gooseneck kettle"],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "4000-4019"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4020-4039"
}
```


```json
{
  "action": "Pour milk into coffee",
  "subtask": "Pour milk into coffee",
  "objects": [
    "white bottle",
    "coffee"
  ],
  "contact": "white bottle",
  "transition": "Pouring milk into coffee",
  "next_action": "Place white bottle on table",
  "evidence_window": "4040-4059"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4060-4079"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4080-4099"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "unknown"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4400-4419"
}
```

coffee equipment
small bottle
white mug
weighing scale


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4420-4439"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "4440-4459"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "4460-4479"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4480-4499"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4500-4519"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "gooseneck kettle",
    "white bottle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "unknown"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4540-4559"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4560-4579"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4580-4599"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4600-4619"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4620-4639"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4640-4659"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "4660-4679"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5000-5019"
}
```


```json
{
  "action": "Wait/Prepare for pouring",
  "subtask": "Prepare for pouring",
  "objects": [
    "gooseneck kettle"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "Pour coffee",
  "evidence_window": "5020-5039"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5040-5059"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5060-5079"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5080-5099"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5100-5119"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5120-5139"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": "unknown",
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5140-5159"
}
```


```json
{
  "action": "unknown",
  "subtask": "unknown",
  "objects": [
    "unknown"
  ],
  "contact": "unknown",
  "transition": "unknown",
  "next_action": "unknown",
  "evidence_window": "5800-5819"
}
```

coffee mug
stainless steel milk pitcher
table
milk bottle
digital scale