rmbench battery_try filled to 50 eps (ep14 seed32 replanned, ep34 seed146); datasets/ tree (part 11)

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+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 151,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode23": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode24": {
+    "n_frames": 149,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 96,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 133,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode25": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode26": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 96,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 133,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode27": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 98,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode28": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode29": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 98,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode3": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 98,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode30": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode31": {
+    "n_frames": 152,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 151,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode32": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode33": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode34": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "end",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode35": {
+    "n_frames": 149,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 94,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 132,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode36": {
+    "n_frames": 149,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 96,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 133,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode37": {
+    "n_frames": 149,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 96,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 133,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode38": {
+    "n_frames": 152,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 151,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode39": {
+    "n_frames": 152,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 151,
+        "reason": "end",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode4": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "end",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode40": {
+    "n_frames": 149,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 94,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 132,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 148,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode41": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode42": {
+    "n_frames": 148,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 95,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 132,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 147,
+        "reason": "end",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode43": {
+    "n_frames": 148,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 94,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 131,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 147,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode44": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode45": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode46": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode47": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 100,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 136,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "end",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode48": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 98,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode49": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode5": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode6": {
+    "n_frames": 151,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 150,
+        "reason": "vel_zero",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode7": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 99,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 135,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "end",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode8": {
+    "n_frames": 150,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 97,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 134,
+        "reason": "vel_zero+gripper_close_L",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 149,
+        "reason": "end",
+        "left_gripper": 0.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  },
+  "episode9": {
+    "n_frames": 154,
+    "n_keyframes": 4,
+    "instruction": "Initially, there is one target object on the shelf and five random objects on the table. Then, a screen obscures the target object. Pick up the corresponding target object from the table and lift it up.",
+    "keyframes": [
+      {
+        "frame_idx": 0,
+        "reason": "start",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Wait for wall appear."
+      },
+      {
+        "frame_idx": 101,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 1.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 138,
+        "reason": "vel_zero+gripper_close_R",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      },
+      {
+        "frame_idx": 153,
+        "reason": "vel_zero",
+        "left_gripper": 1.0,
+        "right_gripper": 0.0,
+        "language_annotation": "Pick up the target object."
+      }
+    ]
+  }
+}