diff --git "a/datasets/rmbench/keyframes/cover_blocks.json" "b/datasets/rmbench/keyframes/cover_blocks.json" new file mode 100644--- /dev/null +++ "b/datasets/rmbench/keyframes/cover_blocks.json" @@ -0,0 +1,14828 @@ +{ + "episode0": { + "n_frames": 1005, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 397, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 409, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 427, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 460, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 476, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 509, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 539, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 573, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 586, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 604, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 638, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 651, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 686, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 784, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 819, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 830, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 924, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1004, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode1": { + "n_frames": 1017, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 721, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 755, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 829, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 841, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 869, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 905, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 918, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 937, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 971, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 984, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1016, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode10": { + "n_frames": 1004, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 672, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 707, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 794, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 830, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 860, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1003, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode11": { + "n_frames": 1054, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 829, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 864, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 897, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 931, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 943, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1004, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1018, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode12": { + "n_frames": 1009, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 461, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 477, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 754, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 860, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 896, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 909, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode13": { + "n_frames": 1014, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 581, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 651, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 663, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 690, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 726, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 758, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 793, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 806, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 839, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 869, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 903, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 916, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 934, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 968, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 981, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1013, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode14": { + "n_frames": 1006, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 81, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 150, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 225, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 334, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 708, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 779, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 794, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 831, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 895, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 960, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 973, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1005, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode15": { + "n_frames": 1008, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 754, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 821, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 832, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 961, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 974, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode16": { + "n_frames": 1044, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 649, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 698, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 728, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 762, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 774, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 792, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 825, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 870, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 901, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 935, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 948, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 999, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1043, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode17": { + "n_frames": 1001, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 671, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 706, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 775, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 856, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 890, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 903, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 921, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 955, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 968, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode18": { + "n_frames": 1001, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 670, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 704, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 739, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 776, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 828, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 892, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 922, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 968, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode19": { + "n_frames": 1045, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 612, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 647, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 660, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 695, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 725, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 759, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 772, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 824, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 870, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 900, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 934, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 947, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 999, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1044, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode2": { + "n_frames": 1008, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 721, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 755, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 767, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 823, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 860, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 896, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 909, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 975, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode20": { + "n_frames": 1005, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 709, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 721, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 778, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 829, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 860, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 925, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1004, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode21": { + "n_frames": 1053, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 830, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 865, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 898, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 944, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1003, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode22": { + "n_frames": 999, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 686, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 815, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 846, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 880, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 892, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 913, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 949, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode23": { + "n_frames": 1050, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 540, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 574, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 587, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 605, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 685, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 761, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 779, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 813, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 941, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1000, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1014, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1049, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode24": { + "n_frames": 1046, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 648, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 661, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 697, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 727, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 761, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 774, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 792, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 839, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 872, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 902, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 936, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 949, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 967, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1001, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1014, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1045, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode25": { + "n_frames": 1002, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 244, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 277, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 295, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 674, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 709, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 721, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 858, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 893, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 905, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 923, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 957, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 969, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1001, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode26": { + "n_frames": 1011, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 225, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 334, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 401, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 413, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 465, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 516, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 582, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 661, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 723, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 736, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 866, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 900, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 913, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 931, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 978, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode27": { + "n_frames": 1048, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 465, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 516, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 582, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 651, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 664, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 699, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 729, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 763, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 776, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 794, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 828, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 841, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 874, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 938, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 951, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 969, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1002, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1047, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode28": { + "n_frames": 1013, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 461, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 477, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 579, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 614, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 651, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 663, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 691, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 727, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 758, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 792, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 805, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 868, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 902, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 915, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 933, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 980, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode29": { + "n_frames": 1046, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 461, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 477, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 686, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 815, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 940, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 961, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 997, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1045, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode3": { + "n_frames": 1009, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 461, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 510, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 540, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 574, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 587, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 605, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 686, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 753, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 786, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 834, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 897, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 910, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 929, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 976, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1008, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode30": { + "n_frames": 1001, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 828, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 848, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 883, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 895, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 916, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 951, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode31": { + "n_frames": 1008, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 754, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 787, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 822, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 859, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 895, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 975, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode32": { + "n_frames": 1014, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 654, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 689, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 756, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 839, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 866, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 901, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 914, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 980, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1013, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode33": { + "n_frames": 1051, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 614, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 651, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 665, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 701, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 731, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 778, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 796, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 830, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 843, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 876, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 906, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 940, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 953, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 971, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1005, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1018, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode34": { + "n_frames": 1005, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 672, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 706, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 742, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 780, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 795, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 831, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 895, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 926, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 959, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1004, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode35": { + "n_frames": 1011, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 244, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 331, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 363, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 397, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 409, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 640, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 754, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 766, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 788, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 824, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 899, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 912, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 978, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode36": { + "n_frames": 1051, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 225, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 299, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 335, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 401, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 413, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 465, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 516, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 549, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 583, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 595, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 667, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 703, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 767, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 779, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 797, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 831, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 844, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 877, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 941, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 954, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1006, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode37": { + "n_frames": 999, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 465, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 544, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 578, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 707, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 740, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 776, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 825, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 855, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 889, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 901, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 919, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 953, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode38": { + "n_frames": 1004, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 654, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 847, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 881, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 893, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 916, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 954, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 968, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1003, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode39": { + "n_frames": 1007, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 648, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 659, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 684, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 787, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 800, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 833, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 897, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 909, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 927, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 961, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 974, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1006, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode4": { + "n_frames": 1013, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 334, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 690, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 723, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 757, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 769, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 838, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 864, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 900, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 913, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 967, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 980, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1012, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode40": { + "n_frames": 1054, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 334, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 401, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 414, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 432, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 466, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 482, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 517, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 550, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 584, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 596, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 617, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 667, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 703, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 767, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 832, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 845, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 878, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 908, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 942, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 955, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 974, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1008, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1021, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode41": { + "n_frames": 999, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 607, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 641, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 654, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 815, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 846, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 881, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 893, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 914, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 949, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 998, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode42": { + "n_frames": 1001, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 673, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 707, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 741, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 777, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 791, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 857, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 891, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 904, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 922, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 956, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 969, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1000, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode43": { + "n_frames": 1048, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + 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"language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 613, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 649, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 698, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 728, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 762, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 775, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 793, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 827, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 840, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 873, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 903, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 937, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 950, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 968, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1002, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1047, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode44": { + "n_frames": 1008, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the 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1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 612, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 647, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 658, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 684, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 720, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order 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"language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 910, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 962, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 975, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1007, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode45": { + "n_frames": 1052, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 581, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 616, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 653, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 667, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 703, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 733, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 767, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 798, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 831, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 844, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 877, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 907, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 941, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 954, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 972, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1006, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1019, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1051, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode46": { + "n_frames": 1053, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 465, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 481, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 514, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 545, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 579, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 591, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 609, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 643, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 656, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 689, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 719, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 753, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 828, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 896, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 930, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 942, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1003, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1052, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode47": { + "n_frames": 1047, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 511, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 541, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 575, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 588, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 606, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 685, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 716, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 750, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 763, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 781, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 815, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 828, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 895, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 929, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 941, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 962, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 998, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1046, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode48": { + "n_frames": 1054, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 654, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 717, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 751, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 764, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 782, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 816, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 829, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 863, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 896, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 930, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 942, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1003, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1017, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1053, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode49": { + "n_frames": 1012, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 35, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 69, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 82, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 100, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 134, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 150, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 175, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 211, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 225, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 247, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 280, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 298, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 334, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 367, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 401, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 413, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 431, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 515, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 547, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 581, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 593, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 614, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 661, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 723, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 736, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 868, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 902, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 914, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode5": { + "n_frames": 1012, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 482, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 515, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 548, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 582, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 594, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 615, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 661, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 687, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 723, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 736, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 755, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 790, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 803, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 867, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 901, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 914, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode6": { + "n_frames": 1011, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 99, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 133, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 366, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 400, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 412, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 430, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 464, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 480, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 590, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 690, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 722, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 756, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 768, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 789, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 825, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 836, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 862, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 898, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 911, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 930, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 965, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 978, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1010, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode7": { + "n_frames": 1051, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 543, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 577, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 605, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 639, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 652, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 685, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 715, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 749, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 762, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 780, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 813, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 826, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 861, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 894, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 928, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 940, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 963, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1001, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1015, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode8": { + "n_frames": 1012, + "n_keyframes": 41, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 148, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 173, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 209, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 223, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 245, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 278, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 296, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 332, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 364, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 398, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 410, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 428, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 462, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 478, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 513, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 546, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 580, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 592, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 614, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 650, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 662, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 689, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 725, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 738, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 756, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 791, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 804, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 837, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 867, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 901, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 914, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 979, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1011, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + } + ] + }, + "episode9": { + "n_frames": 1051, + "n_keyframes": 42, + "instruction": "On the table, red, green, and blue blocks are arranged randomly along with three lids. From the current viewpoint, cover the blocks from left to right using the lids, and then uncover them again in the sequence red, green, and blue.", + "keyframes": [ + { + "frame_idx": 0, + "reason": "start", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 34, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 68, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 80, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 98, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 132, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the left block with the left cover." + }, + { + "frame_idx": 149, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 174, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 210, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 224, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 246, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 279, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 297, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the middle block with the middle cover." + }, + { + "frame_idx": 333, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 365, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 399, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 411, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 429, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 463, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 479, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Cover the right block with the right cover." + }, + { + "frame_idx": 512, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 542, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 576, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 589, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 608, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 642, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 655, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the right cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 688, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 718, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 752, + "reason": "vel_zero+gripper_close_L", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 765, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 783, + "reason": "vel_zero", + "left_gripper": 0.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 817, + "reason": "vel_zero+gripper_open_L", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 830, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the left cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 865, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 898, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 932, + "reason": "vel_zero+gripper_close_R", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 944, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 966, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 0.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1002, + "reason": "vel_zero+gripper_open_R", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1016, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + }, + { + "frame_idx": 1050, + "reason": "vel_zero", + "left_gripper": 1.0, + "right_gripper": 1.0, + "language_annotation": "Open the middle cover to uncover the blocks in the order of red, green, and blue." + } + ] + } +} \ No newline at end of file