diff --git "a/datasets/rmbench/keyframes/battery_try.json" "b/datasets/rmbench/keyframes/battery_try.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/battery_try.json" @@ -0,0 +1,8150 @@ +{ + "episode0": { + "n_frames": 669, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 301, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 336, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 472, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 504, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 540, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 554, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 595, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 633, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 668, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode1": { + "n_frames": 666, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 503, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 538, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 551, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 629, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 665, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode10": { + "n_frames": 872, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 348, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 500, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 536, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 551, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 631, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 669, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 707, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 743, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 757, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 839, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 871, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode11": { + "n_frames": 467, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 348, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode12": { + "n_frames": 474, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 197, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 235, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 304, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 339, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 437, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode13": { + "n_frames": 675, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 197, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 309, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 344, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 358, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 401, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 439, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 509, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 545, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 560, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 601, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode14": { + "n_frames": 859, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 237, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 307, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 342, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 467, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 498, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 533, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 626, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 664, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 736, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 749, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 788, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 826, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + } + ] + }, + "episode15": { + "n_frames": 472, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 30, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode16": { + "n_frames": 664, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 194, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 428, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 464, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 496, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 532, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 628, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 663, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode17": { + "n_frames": 477, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 345, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 402, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 440, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 476, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode18": { + "n_frames": 890, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 196, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 505, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 541, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 727, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 762, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 776, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 819, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 857, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 889, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode19": { + "n_frames": 869, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 235, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 304, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 339, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 474, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 507, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 706, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 741, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 836, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 868, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode2": { + "n_frames": 663, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 337, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 429, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 464, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 496, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 532, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 627, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode20": { + "n_frames": 869, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 192, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 230, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 504, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 540, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 706, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 741, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 836, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 868, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode21": { + "n_frames": 469, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 239, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 277, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 345, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 359, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode22": { + "n_frames": 877, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 30, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 238, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 275, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 308, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 343, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 357, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 400, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 438, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 477, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 509, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 545, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 560, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 601, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 677, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 844, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 876, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode23": { + "n_frames": 476, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 104, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 197, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 235, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 400, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 439, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 475, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode24": { + "n_frames": 666, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 187, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 225, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 261, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 347, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 429, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 502, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 537, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 551, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 630, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 665, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode25": { + "n_frames": 466, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 238, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 307, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 342, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 356, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode26": { + "n_frames": 467, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 466, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode27": { + "n_frames": 668, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 170, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 193, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 231, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 337, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 393, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 503, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 538, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 552, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 632, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 667, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode28": { + "n_frames": 888, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 196, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 352, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 429, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 464, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 496, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 531, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 586, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 624, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 703, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 740, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 839, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 887, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode29": { + "n_frames": 874, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 237, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 274, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 360, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 403, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 441, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 547, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 561, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 601, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 677, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 708, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 744, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 759, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 841, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 873, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode3": { + "n_frames": 459, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 137, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 169, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 184, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 222, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 257, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 294, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 342, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode30": { + "n_frames": 864, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 301, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 336, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 430, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 503, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 538, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 551, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 629, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 665, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 698, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 734, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 748, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 831, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode31": { + "n_frames": 727, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 190, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 227, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 333, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 348, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 429, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 564, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 585, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 685, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 726, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode32": { + "n_frames": 469, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 194, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 301, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 336, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 350, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 468, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode33": { + "n_frames": 679, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 38, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 75, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 92, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 108, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 147, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 181, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 204, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 242, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 279, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 315, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 350, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 406, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 444, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 483, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 515, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 550, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 564, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 605, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 643, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 678, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode34": { + "n_frames": 860, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 104, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction.", + "subtask_idx": 0 + }, + { + "frame_idx": 273, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction.", + "subtask_idx": 1 + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 504, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 539, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 552, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 631, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction.", + "subtask_idx": 2 + }, + { + "frame_idx": 669, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 700, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 735, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 749, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 827, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + }, + { + "frame_idx": 859, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction.", + "subtask_idx": 3 + } + ] + }, + "episode35": { + "n_frames": 470, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 337, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode36": { + "n_frames": 656, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 229, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 299, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 334, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 348, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 492, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 527, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 582, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 620, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode37": { + "n_frames": 872, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 273, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 306, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 341, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 355, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 506, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 598, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 636, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 706, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 741, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 756, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 839, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 871, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode38": { + "n_frames": 862, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 193, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 231, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 389, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 427, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 494, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 530, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 586, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 624, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 729, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 743, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode39": { + "n_frames": 470, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 196, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 270, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode4": { + "n_frames": 659, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 188, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 226, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 259, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 343, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 386, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 424, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 497, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 532, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 585, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 623, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 658, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode40": { + "n_frames": 873, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 196, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 304, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 339, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 352, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 434, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 473, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 505, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 541, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 598, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 636, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 711, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 746, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 759, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 802, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 840, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 872, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode41": { + "n_frames": 875, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 30, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 104, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 142, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 200, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 239, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 276, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 308, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 343, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 357, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 470, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 503, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 538, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 552, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 630, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 668, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 736, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 749, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 792, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 830, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 874, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode42": { + "n_frames": 472, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 30, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 66, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 196, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 235, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 272, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode43": { + "n_frames": 470, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 395, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 433, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 469, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode44": { + "n_frames": 859, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 138, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 171, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 192, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 230, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 266, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 300, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 335, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 349, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 461, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 494, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 529, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 584, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 622, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 660, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 726, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 778, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode45": { + "n_frames": 655, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 229, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 346, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 458, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 492, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 527, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 581, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 619, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 654, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode46": { + "n_frames": 675, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 192, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 230, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 330, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 344, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 500, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 536, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 549, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 637, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode47": { + "n_frames": 463, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 228, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 263, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 331, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 345, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 462, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode48": { + "n_frames": 457, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 192, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 229, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 264, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 332, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 346, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 423, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 456, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode49": { + "n_frames": 869, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 86, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 106, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 178, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 199, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 237, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 273, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 474, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 507, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 706, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 741, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 754, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 836, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 868, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode5": { + "n_frames": 887, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 191, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 229, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 262, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 294, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 329, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 343, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 387, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 426, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 465, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 516, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 555, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 570, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 611, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 651, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 724, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 759, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 772, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 816, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 854, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 886, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode6": { + "n_frames": 464, + "n_keyframes": 16, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 32, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 234, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 271, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 304, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 339, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 353, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 393, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 431, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 463, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode7": { + "n_frames": 672, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 30, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 83, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 141, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 198, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 236, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 273, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 305, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 340, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 354, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 398, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 436, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 475, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 508, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 543, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 671, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + }, + "episode8": { + "n_frames": 866, + "n_keyframes": 28, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 33, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 85, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 140, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 194, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 232, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 267, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 303, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 338, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 394, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 432, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 471, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 504, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 539, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 552, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 631, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 670, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 736, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 750, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 794, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 833, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + }, + { + "frame_idx": 865, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the positive direction." + } + ] + }, + "episode9": { + "n_frames": 671, + "n_keyframes": 22, + "instruction": "There are two batteries and a battery slot on the table. Combining the two batteries in different orientations causes the dashboard needle to rotate.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 31, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 67, + "reason": "vel_zero+gripper_close_L+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 84, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 139, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 172, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 195, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 233, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Use dual arm to pick up the batteries and place them into the battery slots in the positive direction." + }, + { + "frame_idx": 269, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 302, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 337, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 351, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 396, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 435, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the left battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 474, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 507, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 597, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 635, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + }, + { + "frame_idx": 670, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Pick up the right battery and place it into the battery slot in the negative direction." + } + ] + } +} \ No newline at end of file