diff --git "a/datasets/rmbench/keyframes/blocks_ranking_try.json" "b/datasets/rmbench/keyframes/blocks_ranking_try.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/blocks_ranking_try.json" @@ -0,0 +1,22472 @@ +{ + "episode0": { + "n_frames": 1031, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode1": { + "n_frames": 1961, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 214, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 230, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 282, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 767, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1033, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1086, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1117, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1170, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1188, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1222, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1238, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1253, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1289, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1324, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1360, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1376, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1393, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1431, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1475, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1486, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1497, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1513, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1547, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1563, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1579, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1616, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1633, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1651, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1685, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1701, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1752, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1767, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1824, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1840, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1858, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1895, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1939, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1950, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1960, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode10": { + "n_frames": 554, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 553, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode11": { + "n_frames": 2432, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 747, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 818, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 852, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 888, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1018, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1029, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1083, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1098, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1151, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1167, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1218, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1249, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1285, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1301, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1321, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1357, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1373, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1428, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1482, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1493, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1509, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1543, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1612, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1629, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1681, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1748, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1819, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1891, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1935, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1946, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1957, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1977, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2011, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2027, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2044, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2081, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2097, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2118, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2152, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2168, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2223, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2238, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2257, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2293, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2309, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2330, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2367, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2410, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2421, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2431, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode12": { + "n_frames": 2434, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1086, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1117, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1153, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1168, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1185, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1219, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1235, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1250, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1286, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1302, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1321, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1357, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1373, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1427, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1470, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1481, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1492, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1508, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1611, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1681, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1750, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1822, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1839, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1857, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1894, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1937, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1948, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1959, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1979, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2013, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2028, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2044, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2081, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2096, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2118, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2152, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2168, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2223, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2238, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2259, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2295, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2332, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2369, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2412, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2423, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2433, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode13": { + "n_frames": 1489, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 747, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 762, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 832, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 852, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 888, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 903, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1005, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1016, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1027, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1048, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1082, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1097, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1150, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1216, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1283, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1318, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1354, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1370, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1387, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1424, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1467, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1478, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1488, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode14": { + "n_frames": 558, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode15": { + "n_frames": 1496, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 767, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 857, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 893, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 909, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 931, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 968, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1023, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1034, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1087, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1118, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1155, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1170, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1221, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1237, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1252, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1288, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1324, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1360, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1376, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1393, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1430, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1474, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1485, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1495, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode16": { + "n_frames": 557, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode17": { + "n_frames": 1031, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode18": { + "n_frames": 2432, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 964, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1018, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1029, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1048, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1082, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1097, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1164, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1181, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1215, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1231, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1282, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1318, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1354, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1370, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1387, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1424, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1467, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1478, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1489, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1505, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1539, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1572, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1609, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1644, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1678, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1709, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1746, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1761, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1817, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1851, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1889, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1933, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1944, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1955, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1974, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2008, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2023, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2039, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2075, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2091, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2147, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2163, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2219, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2254, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2290, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2306, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2328, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2366, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2410, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2421, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2431, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode19": { + "n_frames": 559, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 161, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode2": { + "n_frames": 1955, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1051, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1085, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1116, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1153, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1169, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1186, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1220, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1236, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1251, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1287, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1302, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1321, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1357, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1373, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1427, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1491, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1507, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1541, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1573, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1610, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1645, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1679, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1711, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1747, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1819, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1890, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1933, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1944, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1954, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode20": { + "n_frames": 2429, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1086, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1117, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1170, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1221, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1237, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1252, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1288, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1324, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1360, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1376, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1429, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1472, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1483, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1494, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1510, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1544, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1560, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1613, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1630, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1648, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1682, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1698, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1749, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1820, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1891, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1935, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1946, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1957, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1976, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2010, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2025, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2041, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2077, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2092, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2147, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2163, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2219, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2253, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2289, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2305, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2326, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2363, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2407, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2418, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2428, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode21": { + "n_frames": 2429, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 690, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 746, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 762, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 832, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 851, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 887, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 903, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1028, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1048, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1082, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1097, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1216, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1283, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1319, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1355, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1371, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1425, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1479, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1490, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1506, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1540, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1572, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1609, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1644, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1678, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1709, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1746, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1761, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1817, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1851, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1888, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1943, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1954, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1973, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2007, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2038, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2074, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2090, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2162, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2181, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2217, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2252, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2288, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2326, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2363, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2407, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2418, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2428, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode22": { + "n_frames": 2430, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 554, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1083, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1098, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1151, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1167, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1218, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1249, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1285, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1300, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1320, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1356, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1372, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1389, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1426, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1491, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1507, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1541, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1573, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1610, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1645, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1679, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1710, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1747, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1762, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1818, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1852, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1890, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1933, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1944, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1955, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1974, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2008, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2023, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2039, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2076, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2092, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2148, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2164, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2183, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2220, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2235, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2255, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2291, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2307, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2328, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2365, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2408, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2419, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2429, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode23": { + "n_frames": 1033, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode24": { + "n_frames": 1032, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1031, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode25": { + "n_frames": 1950, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1028, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1047, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1081, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1096, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1112, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1216, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1282, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1317, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1353, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1368, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1385, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1422, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1464, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1475, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1486, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1502, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1536, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1552, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1568, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1605, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1622, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1674, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1690, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1705, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1741, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1756, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1775, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1812, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1828, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1846, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1884, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1939, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1949, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode26": { + "n_frames": 1028, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 532, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 554, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 747, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 818, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 889, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1027, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode27": { + "n_frames": 1962, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 161, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 214, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 230, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 282, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1051, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1085, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1116, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1153, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1169, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1186, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1220, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1236, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1250, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1286, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1302, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1323, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1359, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1375, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1429, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1473, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1484, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1495, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1511, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1545, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1561, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1615, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1632, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1650, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1684, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1700, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1751, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1823, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1840, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1858, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1896, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1940, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1951, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1961, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode28": { + "n_frames": 557, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode29": { + "n_frames": 2432, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 230, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 282, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 767, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1086, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1101, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1117, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1153, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1169, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1186, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1220, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1236, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1251, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1287, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1302, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1322, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1358, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1374, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1429, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1482, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1493, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1509, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1543, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1612, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1629, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1681, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1749, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1821, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1837, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1892, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1936, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1947, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1958, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1978, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2012, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2027, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2043, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2079, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2094, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2116, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2150, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2166, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2185, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2221, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2236, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2256, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2292, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2308, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2330, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2367, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2410, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2421, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2431, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode3": { + "n_frames": 1954, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 747, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 818, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 889, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 964, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1084, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1099, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1115, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1152, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1168, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1185, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1219, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1235, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1250, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1286, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1301, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1321, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1357, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1373, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1390, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1427, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1470, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1481, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1492, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1508, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1542, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1611, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1645, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1679, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1710, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1746, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1761, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1817, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1851, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1888, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1943, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1953, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode30": { + "n_frames": 1492, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 964, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1083, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1098, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1151, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1167, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1218, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1249, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1285, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1301, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1320, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1356, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1371, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1426, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1470, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1481, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1491, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode31": { + "n_frames": 1030, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1029, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode32": { + "n_frames": 1491, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 679, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1083, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1098, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1151, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1167, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1218, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1284, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1320, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1356, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1372, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1389, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1426, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1490, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode33": { + "n_frames": 1491, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1031, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1084, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1099, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1115, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1151, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1166, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1183, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1217, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1233, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1284, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1319, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1355, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1371, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1388, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1425, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1490, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode34": { + "n_frames": 1032, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1031, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode35": { + "n_frames": 1031, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode36": { + "n_frames": 1959, + "n_keyframes": 84, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 456, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 579, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 613, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 644, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 681, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 753, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 769, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 788, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 824, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 839, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 859, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 895, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 911, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 933, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 970, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1013, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1024, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1035, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1055, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1089, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1104, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1120, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1156, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1171, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1188, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1222, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1238, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1253, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1289, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1323, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1359, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1375, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1429, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1472, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1483, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1494, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1510, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1544, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1560, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1614, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1631, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1649, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1683, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1699, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1750, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1822, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1838, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1893, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1937, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1948, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1958, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode37": { + "n_frames": 1494, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 214, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 231, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 249, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 283, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 299, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 314, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 350, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 456, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 579, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 613, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 644, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 681, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 696, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 910, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 969, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1023, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1034, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1087, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1118, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1170, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1221, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1237, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1252, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1288, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1304, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1323, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1359, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1375, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1392, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1429, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1472, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1483, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1493, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode38": { + "n_frames": 1490, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 676, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1083, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1098, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1150, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1216, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1283, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1318, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1354, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1370, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1387, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1424, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1468, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1479, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1489, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode39": { + "n_frames": 555, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 554, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode4": { + "n_frames": 2431, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 433, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 451, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 488, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 531, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 553, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 572, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 606, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 621, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 637, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 673, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 689, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 711, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 745, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 761, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 831, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 851, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 887, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 903, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 961, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1004, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1026, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1045, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1079, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1094, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1146, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1162, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1179, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1213, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1244, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1280, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1315, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1351, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1367, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1384, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1421, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1465, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1476, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1487, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1503, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1537, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1553, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1569, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1607, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1676, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1707, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1744, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1759, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1778, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1815, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1832, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1850, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1888, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1943, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1954, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1973, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2007, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2038, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2075, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2091, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2113, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2147, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2164, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2183, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2219, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2254, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2290, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2306, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2328, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2365, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2409, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2420, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2430, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode40": { + "n_frames": 1500, + "n_keyframes": 64, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 161, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 177, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 214, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 230, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 282, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 696, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 910, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 969, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1013, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1024, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1035, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1055, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1089, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1104, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1120, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1173, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1190, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1224, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1240, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1255, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1291, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1307, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1328, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1364, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1435, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1478, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1489, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1499, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode41": { + "n_frames": 2431, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 644, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 696, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 857, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 893, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 909, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 931, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 968, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1033, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1087, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1102, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1118, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1154, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1170, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1187, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1221, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1237, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1252, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1288, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1303, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1322, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1358, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1374, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1391, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1428, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1471, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1482, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1493, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1509, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1543, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1612, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1629, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1681, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1749, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1820, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1892, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1935, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1946, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1957, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1976, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2010, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2025, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2041, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2077, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2093, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2148, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2220, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2235, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2254, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2290, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2306, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2327, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2365, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2409, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2420, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2430, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode42": { + "n_frames": 1032, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 694, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 785, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1031, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode43": { + "n_frames": 2429, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 575, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 609, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 624, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 640, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 714, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 748, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 854, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 964, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1084, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1099, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1115, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1152, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1167, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1218, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1234, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1249, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1285, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1301, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1320, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1356, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1372, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1389, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1426, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1469, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1480, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1491, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1507, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1541, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1612, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1629, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1647, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1681, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1697, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1748, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1819, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1891, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1935, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1946, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1957, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1976, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2010, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2025, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2041, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2077, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2092, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2114, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2148, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2184, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2220, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2235, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2255, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2291, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2306, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2327, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2364, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2407, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2418, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2428, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode44": { + "n_frames": 2425, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 361, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 417, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 434, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 452, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 489, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 533, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 574, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 608, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 639, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 675, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 690, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 712, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 746, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 762, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 832, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 852, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 888, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1028, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1047, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1081, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1096, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1112, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1149, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1165, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1182, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1216, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1232, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1282, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1317, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1353, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1369, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1386, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1423, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1466, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1477, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1488, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1504, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1538, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1554, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1570, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1607, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1623, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1675, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1691, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1706, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1742, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1757, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1777, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1814, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1831, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1849, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1886, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1929, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1940, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1951, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1971, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2005, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2036, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2072, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2088, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2179, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2215, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2230, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2250, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2286, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2302, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2323, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2360, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2403, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2414, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2424, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode45": { + "n_frames": 558, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode46": { + "n_frames": 1029, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 347, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 381, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 418, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 576, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 610, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 625, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 641, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 677, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 692, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 713, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 747, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 818, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 853, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 889, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1018, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1028, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode47": { + "n_frames": 556, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 54, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 65, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 109, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 453, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 490, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 534, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 555, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode48": { + "n_frames": 2436, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 385, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 422, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 439, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 457, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 494, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 537, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 559, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 579, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 613, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 628, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 645, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 682, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 698, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 754, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 770, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 825, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 840, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 860, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 896, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 912, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 934, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 971, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1026, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1037, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1056, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1090, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1105, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1121, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1173, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1190, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1224, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1240, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1255, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1291, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1307, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1328, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1364, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1380, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1397, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1434, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1478, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1489, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1500, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1516, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1550, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1566, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1582, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1619, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1636, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1653, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1687, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1703, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1754, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1769, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1788, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1825, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1841, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1859, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1897, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1940, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1951, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1962, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1981, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2015, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2031, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2047, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2084, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2122, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2156, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2172, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2191, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2227, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2242, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2261, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2297, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2334, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2371, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2414, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2425, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode49": { + "n_frames": 1033, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 248, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 282, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 313, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 349, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 384, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 421, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 438, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 456, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 493, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 695, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 767, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1022, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1032, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode5": { + "n_frames": 557, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 176, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode6": { + "n_frames": 2436, + "n_keyframes": 104, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 78, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 144, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 558, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 578, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 612, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 627, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 643, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 680, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 696, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 910, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 969, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1023, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1034, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1054, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1088, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1103, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1120, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1157, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1172, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1189, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1223, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1239, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1254, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1290, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1306, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1326, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1362, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1378, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1395, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1432, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the middle block." + }, + { + "frame_idx": 1475, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1486, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1497, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1514, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1548, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1564, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1580, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1617, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1634, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1652, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1686, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1702, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1717, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1754, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1769, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1789, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1826, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1842, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1860, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1897, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 1940, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1951, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1962, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1981, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2015, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2030, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2046, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2082, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2097, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2119, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2153, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2169, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2188, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2224, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2239, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2259, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2295, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2333, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2370, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 2414, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2425, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 2435, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode7": { + "n_frames": 1031, + "n_keyframes": 44, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 159, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 212, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 228, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 311, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 577, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 611, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 626, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 642, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 678, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 693, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 820, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 835, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the left block and the right block." + }, + { + "frame_idx": 1009, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1020, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 1030, + "reason": "end", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode8": { + "n_frames": 557, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 110, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 143, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 158, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 227, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 310, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 346, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 362, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 382, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 419, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 436, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 454, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 491, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 535, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 556, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + }, + "episode9": { + "n_frames": 558, + "n_keyframes": 24, + "instruction": "There is a button and three colored cubes arranged in a random row on the table. Each time the cubes are rearranged, the arm presses the button until the arrangement is successful.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 55, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 66, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 79, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 111, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 145, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 160, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 213, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 229, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 281, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 312, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 348, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 383, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 420, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 437, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 455, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 0.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 492, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Swap the middle block and the right block." + }, + { + "frame_idx": 536, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + }, + { + "frame_idx": 557, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Press the button." + } + ] + } +} \ No newline at end of file